Safe path planning control constraints for autonomous goal seeking自治区安全路径规划的目标要求控制约
基于SLAM的定位与避障设计
基于SLAM的定位与避障设计摘要：针对机器人定位和避障问题，在SLAM技术基础上，提出了一种新的算法，用于实现机器人在未知环境中精准定位和避障。
首先，通过SLAM算法，实现机器人对环境中广泛信息的收集和处理，包括激光雷达、相机和IMU等传感器数据。
然后，基于收集的数据，建立机器人与环境的地图模型，并实现机器人在环境中的定位。
最后，设计有效的避障策略，保证机器人安全地运行。
本文详细介绍了基于SLAM的定位与避障设计的实现流程，包括环境感知、机器人定位、地图构建、路径规划和避障控制等方面。
对于环境感知，我们使用激光雷达解决环境中障碍物的检测和距离测量问题；对于机器人定位，我们采用了扩展卡尔曼滤波算法，通过融合IMU、激光雷达和视觉等传感器数据，实现机器人的高精定位；对于地图构建，我们使用了增量式方式来不断完善地图，不断减小误差，提高地图精度和稳定性；对于路径规划和避障控制，我们综合考虑机器人行进的速度、方向、加速度、距离等因素，采用模型预测控制算法进行路径规划和避障控制。
关键词： SLAM、机器人定位、避障、激光雷达、增量式地图构建、模型预测控制。
Abstract:For the problem of robot localization and obstacle avoidance, a new algorithm based on SLAM technology is proposed to achieve accurate localization and obstacle avoidance for robots in unknown environments. Firstly, through the SLAM algorithm, the robot collects and processes a wide range of information in the environment, including sensor data such as LIDAR, camera and IMU. Then, based on the collected data, a map model of the robot and the environment is established, and the robot is located in the environment. Finally, an effective obstacle avoidance strategy is designed to ensure that the robot operates safely.This paper introduces the implementation process of the SLAM-based localization and obstacle avoidance design in detail, including environment perception, robot localization, map construction, path planning and obstacle avoidance control. For environment perception, we use LIDAR to detect and measure obstacles in the environment; for robot localization, we use the extended Kalman filter algorithm, which fuses sensor data such as IMU, LIDAR, and vision to achieve high-precision positioning of the robot. For map construction, we use an incremental method to constantly improve the map, reduce errors, and improvemap accuracy and stability. For path planning and obstacle avoidance control, we comprehensivelyconsider factors such as the robot's speed, direction, acceleration, and distance, and use Model Predictive Control (MPC) algorithm to accomplish path planningand obstacle avoidance control.Keywords: SLAM, robot localization, obstacle avoidance, LIDAR, incremental map construction, model predictive controlWith the ever-increasing demand for autonomous robots in various applications, there is a need to develop robust algorithms for accurate robot localization, obstacle avoidance, and path planning. Simultaneous Localization and Mapping (SLAM) is a crucial technique for robot navigation as it enables robots to build a map of the environment while localizing themselves within it.LIDAR is a commonly used sensor for SLAM due to its high accuracy and ability to generate a point cloud of the environment. We adopt LIDAR for the robot navigation in this work. However, constructing an accurate map solely based on LIDAR data is challenging due to various factors such as sensor noise, moving objects, and dynamic environments. Therefore, anincremental map construction method is used to continuously improve the accuracy of the map andreduce errors. By gradually adding new data to the map, we ensure that the map is constantly updated toreflect changes in the environment.For path planning and obstacle avoidance control, we take into account factors such as the robot's speed, direction, acceleration, and distance. We utilize Model Predictive Control (MPC) algorithm, whichpredicts the robot's future position and orientation based on the current state, and optimizes the control commands to achieve desired goals. By combining the MPC algorithm with the incrementally constructed map, the robot can effectively plan its path while avoiding obstacles in real-time, ensuring safe and efficient navigation.In conclusion, the combination of SLAM, incremental map construction, and MPC algorithm allows foraccurate robot localization and obstacle avoidance, enabling robots to navigate autonomously in a dynamic environmentThe development of robotics technology has been advancing rapidly in recent years, and it has brought significant benefits to various fields, such asmanufacturing, healthcare, and transportation. Autonomous navigation is one of the key challenges in developing intelligent robots. It requires the robot to accurately sense its surroundings, localize itself, and plan its path while avoiding obstacles in real-time. SLAM, incremental map construction, and MPC algorithm are three essential techniques that are commonly used to achieve autonomous navigation.SLAM is a technique that enables a robot to map its environment while simultaneously localizing itself within that map. It is a critical component of autonomous navigation, as it enables the robot to operate in an unknown environment. SLAM combines data from various sensors, such as cameras and LiDAR, to produce a map of the surroundings. However, static SLAM may not be sufficient for dynamic environments, where objects such as people and vehicles are moving.Incremental map construction is a technique used to update the map in real-time as the robot moves through the environment. This technique enables the robot to maintain an up-to-date map of its surroundings, which is essential for dynamic environments. The robot can optimize its path planning based on the latest map, enabling it to avoid obstacles and reach its destination safely and efficiently.MPC algorithm is a real-time optimization technique used to generate control commands for the robot. This algorithm takes into account the current state of the robot, the desired goals, and any constraints or obstacles in the environment. MPC algorithm solves an optimization problem to generate the optimal control commands that enable the robot to reach itsdestination while avoiding obstacles.By combining these techniques, the robot can navigate autonomously in dynamic environments. The robot first uses SLAM to generate a map of the environment and localize itself within that map. Then, as the robot moves, incremental map construction updates the map in real-time, enabling the robot to maintain an up-to-date map of its surroundings. Finally, the MPC algorithm generates the optimal control commands for the robot based on the current state and map, enabling it to navigate safely and efficiently.In conclusion, autonomous navigation is an essential component of robotics technology. SLAM, incremental map construction, and MPC algorithm are three critical techniques used to achieve autonomous navigation. By combining these techniques, robots can navigateautonomously in dynamic environments, bringing significant benefits to various fieldsOne significant application of autonomous navigationis in the field of transportation. Autonomous vehicles are becoming increasingly popular thanks to their ability to improve road safety, reduce traffic congestion, and lower fuel consumption. They can also enhance mobility for disabled or elderly individuals who may face challenges in driving. With the development of SLAM, incremental map construction, and MPC algorithm, autonomous vehicles can navigate smoothly and efficiently in diverse environments, such as highways, urban areas, and rural roads. Companies like Tesla, Google, and Uber have invested significant resources in autonomous vehicle research and development, indicating the enormous potential of this technology in the future.Another application of autonomous navigation is in the field of agriculture. With the global population expected to reach over 9 billion by 2050, there is a growing need for increased food production to meet demand. Autonomous robots can help farmers increase efficiency, yield, and profitability. For example, robots equipped with SLAM and MPC algorithms can navigate through fields, collect data on soil andcrops, and perform tasks such as pesticide application, weed removal, and harvesting without human intervention. This technology can help reduce labor costs, minimize environmental impact, and improve food quality and safety.Autonomous navigation can also be applied in the field of search and rescue. In natural disasters such as earthquakes or hurricanes, autonomous robots can navigate through hazardous areas, search for survivors, and deliver aid and supplies. Robotic systems equipped with cameras and sensors can create maps of disaster zones that can aid rescue teams in their search efforts. This technology can significantly enhance the speed and accuracy of the search and rescue process.In conclusion, autonomous navigation has numerous applications across a wide range of industries, including transportation, agriculture, and search and rescue. The integration of SLAM, incremental map construction, and MPC algorithm has paved the way for autonomous robots to navigate safely and efficientlyin dynamic environments. As technology advances and more industries adopt autonomous navigation systems, the potential for innovation and progress is vastIn summary, the search and rescue process involves the systematic and coordinated effort to locate andextract individuals in distress or danger. It involves several phases including the notification, communication, search planning, search operations, and rescue phases. The success of the search and rescue operation depends on the efficiency and effectiveness of the search team, equipment, and technology used. With the advancements in technology, autonomous navigation systems are being increasingly used in search and rescue operations, enabling robots to navigate safely in dynamic and hazardous environments。
拟投期刊的文章-可以引用的--Consensus-based reconfigurable controller design
followers [2, 3]. In this approach, the leader UAV tracks a predefined trajectory, while the followers track the leader using the information receiving from the leader. It is easy to analyse and implement the leader–follower controller; however, this approach is not robust with respect to the failure of the leader. Wolfe et al. [4] investigated a decentralized controller for aircraft formation flight, in which the formation consisted of a single line of decentralized control, with each aircraft flying one wingspan behind the aircraft of its neighbour. In reference [5], the behaviour-based approach via a decentralized scheme was presented to achieve the formation manoeuvre of mobile robots using a feedback linearization method. In reference [6], navigation strategies for the fleet of autonomous mobile robots were treated in which a sufficient stability condition of a
英语演讲(关于无人机的)
UAV development
• Task Allocation : Determining the optimal distribution of tasks amongst a group of agents, with time and equipment constraints
What Is a UAV
• The typical launch and recovery method of an unmanned aircraft is by the function of an automatic system or an operator on the ground.Historically, UAVs were simple remotely piloted aircraft, but autonomous control is increasingly bV
• Its flight is controlled either autonomously by onboard computers or by the remote control of a pilot on the ground or in another vehicle.
types
Global Hawk - UAV
X-47A & X-47B UCAS – UAV
X-43B – UCAV
Prowler II - UAS
UAV development
航线设计PassagePlanning-海上专业试验教学中心-集美大学
航线设计Passage Planning张寿桂主编集美大学航海学院2006．10内容简介《航海学》课程是航海技术专业的主要专业课，又是主干课程。
它是海事局规定的各级考试和评估课程之一。
它是一门研究船舶如何从一个港口航行到另一港口安全、经济航行的实用科学。
《航线设计》是《航海学》课程中的一门设计性又是综合性的实践课程。
通过实践，使学生能综合应用航海图书资料、海图、各种航行条件下的航行方法以及所掌握的航海知识设计一条安全、经济的航线。
本书系根据《航线设计课程教学大纲》和《海船船员适任考试和评估大纲》编写的课程设计辅助教材。
书中内容是在吸取本学院航海教研室多年教学和船员培训之经验的基础上撰写的。
编写过程中充分考虑了《大纲》和《规范》所要求的内容，针对教学和适任评估中经常出现的问题作了简洁、明了的阐述和例范；并注意到目前国内同类参考书和以及不同层次航海人员的需要，着眼于实际应用能力，要求切实可行，并具有可操性较强的特点。
书中还列出了一定数量的实训作业供学生之用。
本书编写共分为三章，从教学和海船船员适任评估的角度出发，提高学生的实际动手能力和实操技能为目的，着重介绍了各种航海图书资料的出版、内容结构、正确使用方法以及改正方法；各种航行条件下的航行方法及航线设计。
本书为航海技术专业《航线设计》课程设计和适任评估使用，也可作为航海院校同类专业师生和有关海船驾驶员的参考书由于编写时间仓促，加上编者水平所限，错漏在所难免，恳请读者批评指正。
2006年10月目录第一章 PASSAGE PLANNING 航线设计 (4)第二章正确使用和管理航海图书资料 (9)第一节 Ocean Passages for the World《世界大洋航路》 (10)第二节 Routeing Chart《航路设计图》 (15)第三节 Pilots & Sailing Directions《航路指南》 (18)第四节 Admiralty List of Radio Signals《无线电信号表》 (25)第五节 The Admiralty List Of Lights & Fog Signals英版《航标与雾号表》 (33)第六节 Catalogue of Admiralty Charts and others Hydrographic Publications利用《航海图书总目录》抽选海图和图书 (39)第七节 Admiralty Notices to Mariners《航海通告》 (52)第八节 Others Imformations其他资料 (56)第三章航线拟定 (60)第一节 大洋航线选择和设计 (60)第二节 沿岸航线选择和设计 (70)第三节 受限水域航线选择与设计 (77)第四节 航线拟定的步骤 (88)Route Planning (93)附录一：航线设计的适任评估规范 (103)附录二：航线设计教学大纲 (111)第一章 PASSAGE PLANNING 航线设计 一、Passage Planning Purpose 航线设计目的To prepare for the navigation of a ship so that the intended passage can be executed from berth to berth in a safe manner in respect of both the vessel and protection of the environment, as well as ensuring positive control of the vessel at all times.为船舶航行作准备，以便能用保障船舶安全和保护环境的方式，执行从泊位到泊位计划航线，同时确保一直对船舶的积极控制。
Path Planning and Execution Robot Navigation
Path Planning and Execution Robot Navigation Path planning and execution in robot navigation is a critical aspect of robotics that requires careful consideration and implementation. It involves the process of determining the best route for a robot to take in order to reach its destination while avoiding obstacles and adhering to any constraints or limitations. This task is essential for the successful operation of autonomous robots in various environments, including manufacturing facilities, warehouses, and even outdoor spaces.One of the key challenges in path planning and execution is the need to balance efficiency with safety. Robots must be able to navigate their environment in a timely manner to fulfill their tasks, but they must also do so without causing harm to themselves, humans, or other objects in their surroundings. This requires the development of sophisticated algorithms and systems that can analyze the environment, predict potential hazards, and make decisions in real-time to ensure safe and efficient navigation.Another important consideration in path planning and execution is the ability to adapt to dynamic environments. In many cases, the environment in which a robot operates is not static, and changes can occur unexpectedly. This could be due to the movement of objects, the presence of new obstacles, or even changes in the layout of the environment itself. As such, robots must be equipped with the capability to re-plan their paths on the fly and make adjustments as necessary to account for these changes.Furthermore, path planning and execution must also take into account the specific capabilities and limitations of the robot itself. Different types of robots may have different movement capabilities, sensor configurations, and operational constraints. For example, a wheeled robot may have different navigational challenges compared to a flying drone or a legged robot. As such, the path planning and execution system must be tailored to the specific characteristics of the robot to ensure optimal performance.In addition to technical considerations, ethical and legal aspects also come into play when it comes to path planning and execution in robot navigation. For instance, robots operating in public spaces must adhere to local regulations and standards to ensure thesafety of pedestrians and other users of the environment. Moreover, there are ethical implications to consider, such as ensuring that robots do not infringe on the privacy of individuals or cause unnecessary disruption to the environment.From a practical standpoint, the successful implementation of path planning and execution in robot navigation can have significant real-world implications. For example, in a warehouse setting, efficient and safe navigation can lead to improved productivity and reduced operational costs. In the context of search and rescue missions, robots with effective path planning and execution capabilities can navigate through complex and hazardous environments to locate and assist survivors. In the field of healthcare, robots can be used to transport medical supplies and equipment within a hospital, optimizing the delivery process and potentially saving lives.In conclusion, path planning and execution in robot navigation is a multifaceted and challenging problem that requires a holistic approach. It involves technical, ethical, and practical considerations that must be carefully addressed to ensure the safe and efficient operation of robots in various environments. By developing advanced algorithms and systems, considering the specific capabilities and limitations of the robot, and adhering to ethical and legal standards, we can pave the way for the widespread adoption of autonomous robots in diverse applications, ultimately leading to a more efficient and safer future.。
常用英语缩写
常用英语缩写：Plan、Do、Check、Action 策划、实施、检查、处置：Production PartApproval Process生产件批准程序：Advanced ProductQuality Planning产品质量先期策划：Potential FailureMode and Effects Analysis 潜在失效模式及后果分析：Statistical ProcessControl统计过程控制：Measurement SystemAnalysis 测量系统控制：Control Plan 控制计划：Quality SystemAssessment 质量体系评定：Parts Per Million 每百万零件不合格数：Quality Manua质量手册：Quality Procedure质量程序文件/Quality Planning质量策划/Quality Plan 质量计划：机器能力指数：过程能力指数：Computer-AidedDesign 计算机辅助能力设计：Overall Equipment Effectiveness 设备总效率：Quality FunctionDeployment质量功能展开：First in, First out先进先出：Customer OrientedProcesses顾客导向过程：Time、Cost、Quality时间、成本、质量：Management Processes管理性过程：Support Processes支持性过程：Total QualityManagement全面质量管理：Product QualityAssurance产品质量保证（免检）：质量三步曲，质量计划－质量控制－质量改进：Quality AssuranceFile质量保证文件：Quality AssurancePlan质量保证计划：Process Flow Chart过程流程图：Quality ManagementSystems质量管理体系：Just In Time准时（交货）：EnterpriseRequirement Planning企业需求计划：Quality Control 质量控制：Quality Audit 质量审核/QalityAssurance 质量保证：In Come QualityControl 进货质量控制：In Process QualityControl 过程质量控制：Final QualityControl 成品质量控制：Out Quality Control 出货质量控制：Man、Machine、Material、Method、Environment人、机、料、法、环：Why、What、Who、When、Where、How 为何/做什么/谁做/时间/地点/如何做：Seiri、Seiton、Seiso、Seiketsu、Shitsuke、Safety 整理、整顿、清扫、清洁、素养、安全值：Total Record Injury（三种）可记录工伤值：精明原则，SpecificMeasurable Achievable Result Oriented Timed（具体的描述、可以测量的、可以通过努力实现的、有结果导向性的、有时间性的）企业常用英文缩写：5S管理：作业制成本制度（Activity-BasedCosting）：实施作业制预算制度（Activity-BasedBudgeting）：作业制成本管理（Activity-BaseManagement）：先进规画与排程系统（AdvancedPlanning and Scheduling）：应用程序服务供货商（ApplicationService Provider）：可承诺量（Available ToPromise）：认可的供货商清单（ApprovedVendor List）：物料清单（Bill OfMaterial）：企业流程再造（BusinessProcess Reengineering）：平衡记分卡（BalancedScoreCard）：计划生产（Build ToForecast）：订单生产（Build To Order）：要径法（Critical PathMethod）：每一百万个使用者会有几次抱怨（Complaintper Million）：客户关系管理（CustomerRelationship Management）：产能需求规划（CapacityRequirements Planning）：客制化生产（ConfigurationTo Order）：限制驱导式排程法（Drum-Buffer-Rope）：成熟度验证（DesignMaturing Testing）：设计验证（DesignVerification Testing）：运销资源计划（DistributionResource Planning）：决策支持系统（DecisionSupport System）：设计变更/工程变更（EngineerChange）：电子商务（ElectronicCommerce）：原件规格更改通知（EngineerChange Request Notice）：电子数据交换（ElectronicData Interchange）：主管决策系统（ExecutiveInformation System）：电磁相容（ElectricMagnetic Capability）：基本经济订购量（EconomicOrder Quantity）：企业资源规划（EnterpriseResource Planning）：应用工程师（FieldApplication Engineer）：预估（Forecast）：弹性制造系统（FlexibleManufacture System）：成品质量管理（Finish orFinal Quality Control）: 制程质量管理（In-ProcessQuality Control）：进料质量管理（IncomingQuality Control）：国际标准组织（InternationalOrganization for Standardization）：首批样品认可（InitialSample Approval Request）：实时管理（Just In Time）：知识管理（KnowledgeManagement）：逐批订购法（Lot-for-Lot）：最小总成本法（Least TotalCost）：最小单位成本（Least UnitCost）：制造执行系统（ManufacturingExecution System）：制令（Manufacture Order）：主生产排程（MasterProduction Schedule）：请修（购）单（MaintenanceRepair Operation）：物料需求规划（MaterialRequirement Planning）：制造资源计划（ManufacturingResource Planning）：更改预估量的通知Notice forChanging Forecast：委托代工（OriginalEquipment Manufacture）：委托设计与制造（OriginalDesign & Manufacture）：在线分析处理（On-LineAnalytical Processing）：在线交易处理（On-LineTransaction Processing）：最佳生产技术（OptimizedProduction Technology）：出货质量管理（Out-goingQuality Control）：PDCA管理循环（Plan-Do-Check-Action）：产品数据管理系统（ProductData Management）：计划评核术（ProgramEvaluation and Review Technique）：订单（Purchase Order）：预估在手量（Product onHand）：采购申请（PurchaseRequest）：品质保证（QualityAssurance）：质量管理（Quality Control）：品管圈（Quality ControlCircle）：品质工程（QualityEngineering）：粗略产能规划（Rough CutCapacity Planning）：退货验收（ReturnedMaterial Approval）：再订购点（Re-Order Point）：供应链管理（Supply ChainManagement）：现场控制（Shop FloorControl）：策略信息系统（StrategicInformation System）：订单（Sales Order）：特殊订单需求（Special OrderRequest）：统计制程管制（StatisticProcess Control）：限制理论（Theory ofConstraints）：全面生产管理（TotalProduction Management）：全面质量管理（Total QualityControl）：全面品质管理（Total QualityManagement）：在制品（Work In Process）部门名称的专有名词QS:Quality system品质系统CS:Coutomer Sevice 客户服务QC:Quality control品质管理IQC:Incoming quality control 进料检验LQC:Line Quality Control 生产线品质控制IPQC:In process quality control 制程检验FQC:Final quality control 最终检验OQC:Outgoing quality control 出货检验QA:Quality assurance 品质保证SQA:Source(supplier) Quality Assurance 供应商品质保证(VQA) CQA：Customer Quality Assurance客户质量保证PQA rocess Quality Assurance 制程品质保证QE:Quality engineer 品质工程CE:component engineering零件工程EE:equipment engineering设备工程ME:manufacturing engineering制造工程TE:testing engineering测试工程PPE roduct Engineer 产品工程IE:Industrial engineer 工业工程ADM: Administration Department行政部RMA:客户退回维修CSDI:检修PC:producing control生管MC:mater control物管GAD: General Affairs Dept总务部A/D: Accountant /Finance Dept会计LAB: Laboratory实验室DOE:实验设计HR:人资PMC:企划RD:研发W/H:仓库SI:客验PD: Product Department生产部PA:采购(PUR: Purchaing Dept)SMT:Surface mount technology 表面粘着技术MFG:Manufacturing 制造MIS:Management information system 资迅管理系统DCC:document control center 文件管制中心厂内作业中的专有名词QT:Quality target品质目标QP:Quality policy目标方针QI:Quality improvement品质改善CRITICAL DEFECT:严重缺点（CR）MAJOR DEFECT:主要缺点（MA）MINOR DEFECT:次要缺点（MI）MAX:Maximum最大值MIN:Minimum最小值DIA iameter直径DIM imension尺寸LCL:Lower control limit管制下限UCL:Upper control limit管制上限EMI:电磁干扰ESD:静电防护EPA:静电保护区域ECN:工程变更ECO:Engineering change order工程改动要求（客户）ECR:工程变更需求单CPI:Continuous Process Improvement 连续工序改善Compatibility：兼容性Marking：标记DWG rawing图面Standardization：标准化Consensus：一致Code：代码ZD:Zero defect零缺点Tolerance：公差Subject matter：主要事项Auditor：审核员BOM:Bill of material物料清单Rework：重工ID：identification识别,鉴别,证明PILOT RUN: (试投产)FAI:首件检查FPIR：First Piece Inspection Report首件检查报告FAA:首件确认SPC：统计制程管制CP: capability index（准确度）CPK: capability index of process(制程能力) PMP:制程管理计划（生产管制计划）MPI:制程分析DAS efects Analysis System 缺陷分析系统PPB：十亿分之一Flux：助焊剂P/N:料号L/N：Lot Number批号Version：版本Quantity：数量Valid date：有效日期MIL-STD：Military-Standard军用标准ICT: In Circuit Test (线路测试)ATE：Automatic Test Equipment自动测试设备MO: Manafacture Order生产单T/U: Touch Up (锡面修补)I/N:手插件P/T:初测F/T: Function Test (功能测试-终测)AS 组立P/K:包装TQM:Total quality control全面品质管理MDA:manufacturing defect analysis制程不良分析(ICT) RUN-IN:老化实验HI-pot：高压测试FMI：Frequency Modulation Inspect高频测试DPPM: Defect Part Per Million？(不良率的一种表达方式：百万分之一) 1000PPM即为% Corrective Action: (CAR改善对策)ACC：允收REJ:拒收S/S：Sample size抽样检验样本大小SI-SIV：Special I-Special IV特殊抽样水平等级CON：Concession / Waive特采ISO:国际标准化组织ISA：Industry Standard Architecture工业标准体制结构OBA:开箱稽核FIFO:先进先出PDCA:管理循环Plan do check action计划，执行，检查，总结WIP:在制品（半成品）S/O: Sales Order (业务订单)P/O: Purchase Order (采购订单)P/R: Purchase Request (请购单)AQL:acceptable quality level允收品质水准LQL;Limiting quality level最低品质水准QVL:qualified vendor list合格供应商名册AVL ：认可的供货商清单(Approved Vendor List) QCD: Quality cost delivery（品质，交期，成本）MPM:Manufacturing project management制造专案管理KPI:Key performance indicate重要绩效指标MVT:Manufacturing Verification Test制造验证试产Q/R/S：Quality/Reliability/Service质量/可靠度/服务STL:ship to line（料到上线）NTF:No trouble found误判CIP:capacity improvement plan（产能改善计划）MRB:material review board（物料审核小组）MRB:Material reject bill退货单JIT:just in time（即时管理）5S:seiri seiton seiso seiketsu shitsuke（整理，整顿，清扫，清洁，修养）SOP:standard operation process（标准作业程序）SIP:Specification inspection process制程检验规格TOP: Test Operation Process (测试作业流程)WI: working instruction（作业指导书）SMD:surface mounting device（表面粘着原件）FAR:failure aualysis report故障分析报告CAR:Corrective action report改善报告BPR：企业流程再造 (Business Process Reengineering)ISAR ：首批样品认可(Initial Sample Approval Request)-JIT：实时管理 (Just In Time)QCC ：品管圈 (Quality Control Circle)Engineering Department (工程部)TQEM: Total Quality Environment Management(全面品质环境管理)PD: Production Department (制造)LOG: Logistics (后勤支持)？Shipping: (进出口)AOQ：Average Output Quality平均出货质量AOQL：Average Output Quality Level平均出货质量水平FMEA：failure model effectiveness analysis失效模式分析CRB: Change Review Board (工程变更会议)CSA：Customer Simulate Analysis客户模拟分析SQMS：Supplier Quality Management System供应商品质管理系统QIT: Quality Improvement Team 品质改善小组QIP：Quality Improvement Plan品质改善计划CIP：Continual Improvement Plan持续改善计划Material Quality Feedback Sheet (来料品质回馈单)SCAR: Supplier Corrective Action Report (供货商改善对策报告) 8D Sheet: 8 Disciplines sheet ( 8D单)PDCA：PDCA (Plan-Do-Check-Action) (管理循环)MPQ: Material Packing Quantity (物料最小包装量)DSCN: Delivery Schedule Change Notice (交期变更通知) QAPS: Quality Assurance Process Sheet (品质工程表) DRP ：运销资源计划 (Distribution Resource Planning) DSS：决策支持系统 (Decision Support System)EC ：电子商务 (Electronic Commerce)EDI ：电子资料交换 (Electronic Data Interchange)EIS ：主管决策系统 (Excutive Information System)ＥＲＰ：企业资源规划 (Enterprise Resource Planning) FMS ：弹性制造系统 (Flexible Manufacture System)KM ：知识管理 (Knowledge Management)4L ：逐批订购法 (Lot-for-Lot)LTC ：最小总成本法 (Least Total Cost)LUC ：最小单位成本 (Least Unit Cost)MES ：制造执行系统 (Manufacturing Execution System) MPS ：主生产排程 (Master Production Schedule)MRP ：物料需求规划 (Material Requirement Planning) MRPⅡ：制造资源计划 (Manufacturing Resource Planning) OEM ：委托代工 (Original Equipment Manufacture)ODM ：委托设计与制造 (Original Design & Manufacture) OLAP：线上分析处理 (On-Line Analytical Processing) OLTP：线上交易处理 (On-Line Transaction Processing) OPT ：最佳生产技术 (Optimized Production Technology) PDCA：PDCA管理循环 (Plan-Do-Check-Action)PDM：产品数据管理系统 (Product Data Management))RCCP：粗略产能规划 (Rough Cut Capacity Planning) SCM ：供应链管理 (Supply Chain Management)SFC ：现场控制 (Shop Floor Control)TOC：限制理论 (Theory of Constraints)TQC ：全面品质管制 (Total Quality Control)FYI/R:for your information/reference仅供参考ASAP:尽快S/T:Standard time标准时间TPM:total production maintenance：全面生产保养ESD Wrist strap：静电环IT:information technology信息技术，资讯科学CEO：Chief Executive Officer执行总裁COO：Chief Operaring Officer首席业务总裁SWOT：Strength,Weakness,Opportunity,Threat优势﹐弱点﹐机会﹐威胁Competence：专业能力Communication：有效沟通Cooperation：统御融合Vibration Testing：振动测试IDP：Individual Development Plan个人发展计划MRP：Material Requirement Planning物料需求计划MAT'S：Material材料LRR：Lot Rejeet Rate批退率ATIN：Attention知会3C：Computer ,Communication , Consumer electronic消费性电子5W1H：When , Where , Who , What , Why , Ho5M: Man , Machine , Material , Method , Measurement人,机器,材料,方法,测量4MIE: Man,Material,Machine,Method,Environment人力,物力,财务,技术,时间(资源)7M1I: Manpower , Machine , Material , Method, Market , Management , Money , Information人力，机器，材料，方法, 市场，管理，资金，资讯Accuracy 准确度Action 行动？Activity 活动？Analysis Covariance 协方差分析Analysis of Variance 方差分析Approved 承认？Attribute 计数值？Average 平均数？Balance sheet 资产负债对照表？Binomial 二项分配？Brainstorming Techniques 脑力风暴法？Cause and Effect Matrix 因果图(鱼骨图)？CL:Center Line 中心线？Check Sheets 检查表？Complaint 投诉？Conformity 合格（符合）？Control 控制？Control chart 控制(管制)图？Correction 纠正？Correlation Methods 相关分析法？CPI: continuouse Process Improvement 连续工序改善？Cross Tabulation Tables 交叉表？CS: Customer Sevice 客（户）服（务）中心？DSA: Defects Analysis System 缺陷分析系统？Data 数据 Description:品名DCC: Document Control Center 文控中心？Decision 决策、判定？Defects per unit 单位缺点数？Description 描述？Device 装置？Do 执行？DOE: Design of Experiments 实验设计？Element 元素？Engineering recbnology 工程技Environmental 环境？Equipment 设备？Estimated accumulative frequency 计算估计累计数？E Equipment Variation 设备变异？External Failure 外部失效,外部缺陷？FA: Failure Analysis 失效分析？Fact control 事实管理？Fatigue 疲劳？FMEA: Failure Mode and Effect Analysis失效模式与效果分析？FP First-Pass Yield （第一次通过）合格率？FQA: Final Quality Assurance 最终品质保证？FQC: Final Quality control 最终品质控制？Gauge system 测量系统？Grade 等级？Histogram 直方图？Improvement 改善Initial review 先期审查？Inspection 检验？Internal Failure 内部失效、内部缺陷？IPQC: In Process Quality Control 制程品质控制？IQC: Incomming Quality Control 来料品质控制？IS International Organization for Standardization 国际标准化组织？LCL: Lower Control limit 管制下限？LQC: Line Quality Control 生产线品质控制？LSL: Lower Size Limit 规格下限？Machine 机械？Manage 管理？Materials 物料？Measurement 测量？Median 中位数？MSA: Measurement System Analysis 测量系统分析？Occurrence 发生率？Operation Instruction 作业指导书？Organization 组织？Parto 柏拉图？PPM arts per Million （百万分之）不良率？Plan 计划？Policy 方针？Population 群体？PQA: Process Quality Assurance 制程品质保证？Practice 实务(践)？Prevention 预防？Probability 机率？Probability density function 机率密度函数？Procedure 流程？Process 过程？Process capability analysis 制程能力分析（图）？Process control and Process capability制程管制与制程能力？Product 产品？Production 生产？Projects 项目？QA: Quality Assurance 品质保证？QC: Quality Control 品质控制？QE: Quality Engineering 品质工程？QFD: Quality Function Desgin 品质机能展开(法) Quality 质量？Quality manual 品质手册？Quality policy 品质政策(质量方针)？Random experiment 随机试验？Random numbers 随机数？R:Range 全距（极差）？Reject 拒收？Repair 返修？Repeatusility 再现性？Reproducibility 再生性Requirement 要求？Responsibilities 职责？Review 评审？Reword 返工？Rolled yield 直通率？RPN: Risk Priority Number 风险系数？Sample 抽样,样本？Sample space 样本空间？Sampling with replacement 放回抽样？Sampling without replacement 不放回抽样？Scatter diagram 散布图分析？Scrap 报废？Simple random sampling 简单随机取样？Size 规格？SL: Size Line 规格中心线？Stratified random sampling 分层随机抽样？SOP: Standard Operation Procedure 标准作业书？SPC: Statistical Process Control 统计制程管制？Specification 规范？SQA: Source(Supplier) Quality Assurance 供货商品质保证？Stage sampling 分段随机抽样？Standard Deviation 标准差？Sum of squares 平方和？Taguchi-method 田口(试验)方法？Theory 原理？TQC: Total Quality Control 全面品质控制？TQM: Total Quality Management 全面品质管理？Traceablity 追溯？Training 培训？UCL: Upper Control Limit 管制（控制）上限？USL: Upper Size Limit 规格上限？Validation 确认？Variable 计量值？Verification 验证？Version 版本？VOC: Voice of Customer 客户需求？VOE: Voice of Engineer 工程需求？Inventory stock report:库存清单报告Sales order report:出货报告。
PEC飞行器术语
PEC航空英语证书考试-飞行器术语Abort - Early mission termination due to failure(s) that preclude mission continuation. Return to Earth of the crew is accomplished inside the spacecraft designed for Earth return and landing (see Abort to Earth, Abort to Orbit).Abort to Earth - Early mission termination, with direct return to the Earth's surface as the immediate objective.Abort to Orbit - An early mission termination that has an immediate objective of placing the flight system (CEV) in Earth orbit, prior to return to the Earth's surface.Acceptance Tests - Tests conducted to verify that hardware delivered to higher-level assembly prior to delivery to the flight test and prior to delivery to the operational inventory or for operational spares conforms to program requirements. Acceptance testing also includes final "sell-off" of the fully assembled CEV.Annunciate - To provide a visual, tactile or audible indication.Ascent - The time from liftoff from the Earth's surface, to spacecraft insertion into Earth orbit. Ascent Abort - Early mission termination due to failure(s) that preclude mission continuation. Return to Earth of the crew is accomplished inside the spacecraft designed for Earth return and landing.Attitude and Pointing Constraints - Constraints, restrictions or requirements on the vehicles orientation in space. These may include things such as requirements to orient a sensor at a specific target (such as a specific star), or a constraint limiting the amount of time a vehicle axis can be oriented toward a particular target (such as the sun, or deep space). They also include constraints or restrictions on maneuver rates and attitude deadbands.Automated control - Automatic, as opposed to human operation or control of a process, equipment or a system; or the techniques and equipment used to achieve this. Automation is the control or execution of actions with no human interaction. Automated control does not exclude the capability for manual intervention / commanding, but manual intervention / commanding is explicitly not required to accomplish the function.Autonomous operations - Defined as a flight vehicle operating independent of external commands or control (i.e., commands from mission control on Earth). Autonomous operations can be fully automated or require some degree of manual commanding/intervention by the onboard crew. Autonomous operations that do not require onboard crew involvement are, by definition, automated; therefore, the term "autonomous operations" used in the requirements assumes onboard crew involvement in the operations.Berthing - A method of mating two or more Exploration elements in space. During a berthing operation, the two elements are mechanically connected prior to the structural capture and final mating (i.e., one element grapples the other with a robotic arm). One element controls the trajectory and attitude of the other element for the contact and capture. Final mating is generally performed by the berthing mechanism.Catastrophic Hazard - A condition that may cause death or permanently disabling injury, major system or facility destruction on the ground, or major systems or vehicle destruction during themission.CEV Acquisition Strategy Phase 1 - This is the formulation phase for the CEV. This phase begins in 2005 with contract award to multiple contractors and continues through PDR for each design. CEV Acquisition Strategy Phase 2 - This is the implementation phase for the CEV. This phase begins in 2008 with down select to one contractor and continues through 2014, with the first human launch of the CEV. This vehicle is a spiral 2-capable vehicle that also satisfies all spiral 1 capabilities.CEV Acquisition Strategy Post-Phase 2 - This is both the initial operations phase and the spiral 3 upgrade phase for the CEV. The initial operations phase begins in the negotiation of firm options into the 2008 contract for additional CEV flight and also includes the sustaining engineering of the production vehicles. The spiral 3 upgrade phase has the contractor upgrade their CEV design to incorporate all spiral 3 capabilities. This phase will not occur if the contractor incorporated all spiral 3 requirements in their original design.CEV System - Includes the spacecraft and all CEV-unique ground systems needed to support standalone and integrated operations.CEV System Flight Tests - Operating flight tests during the development phase used to qualify that the integrated flight vehicle system (including the launch vehicle) and ground support equipment, as procured and verified by the acceptance test procedures, conform to the Constellation program requirements.CEV System Level Requirements (CEV) - Requirements that will be developed by Constellation SE&I in conjunction with the CEV prime contractors. Includes performance/functional requirements for the CEV system and External Interface Requirements (EIRD) to other Constellation systems.Commercial-Off-The-Shelf (COTS) - Commercially available products that can be purchased and integrated with little or no customization, thus facilitating customer infrastructure expansion and reducing costs.Component - An elementary device or piece of equipment that is a basic part of a subsystem. (Constellation) Ground Support System - This system provides all Constellation common ground-based capabilities (e.g., mission control, launch-site processing) needed to execute Exploration missions. It does not include ground based In-space Support Systems. Facilities and capabilities that are unique to a single Exploration system, such as the CTS, will be included as part of the system it supports.Constellation System of Systems - The system of systems that includes all capabilities and systems that are critical to enabling safe and successful human and robotic missions across the solar system.Consumables - Resources that are consumed in the course of conducting a given mission. Includes propellant, power, habitability items (e.g., gaseous oxygen), and crew consumables. Limited quantity items (such as propellants, power and life support fluids/gases) that are used during the course of the flight. Consumables are budgeted and managed to support all mission needs. Consumables Product Development - The effort to produce planned usage profiles for all consumables that can constrain a mission by nature of their limited quantity (such as propellants, metabolic oxygen, and power generation). Used for preflight planning and real-time flight operations.Contingency EVA Capability - An EV A capability provided to deal with critical failures orcircumstances, which are not adequately protected by redundancy or other means.Control Board - The board, panel or forum chartered to have authority over a particular subject or item (ex. Flight Rules Control Board, Crew Procedures Control Board, etc)Crew Activity Scheduling Constraints - Constraints, restrictions or requirements on the scheduling of the flight crew. Includes such information such as required amounts of sleep, amount crew sleep can be shifted, amount of time for crew meals and exercise, etc.Crew Exploration Vehicle (CEV) - The CEV provides crew habitation and Earth re-entry capability for all Exploration Spirals. In Spirals 2 and 3, the CEV has been functionally defined as the vehicle in which the exploration crew will be transported to the lunar vicinity and subsequently returned to the Earth surface. The CEV will also have the capability to perform automated and/or autonomous operations (loiter), from LSAM separation from the CEV for descent to the lunar surface, until the end of the lunar surface mission.Crew Exploration Vehicle Launch Segment (CEVLS) - The CEVLS consists of a Crew Exploration Vehicle (CEV), a Crew Launch Vehicle (CLV), and all the dedicated ground support infrastructure necessary to launch the CEV to Earth orbit.Crew Launch Vehicle (CLV) - The CLV is an element of the CTS. The CLV will be human-rated, and will deliver the CEV into a mission-specific Earth Ascent Target Orbit.Crew Member - Human onboard the spacecraft or space system during a mission.Crew Operations - The activities performed by the flight crew while in the vehicle or during a mission. A subset of the Integrated Flight Operations Execution that begins with crew ingress into the CEV prior to launch and concludes with the crew egress from the CEV post landingCrew Transportation System (CTS) - The CTS encompasses the flight elements needed to deliver a human crew from Earth to a mission destination, and return the crew safely to Earth. In Spiral 1, the CTS includes the CEV and CLV. For Spirals 2 and 3, the CTS includes the CEV, CLV, plus other elements to be defined at a later date such as EDS and the LSAM. The CTS must interact with the Ground Support System (GSS) during all Spirals; current architectures require delivery of the EDS and LSAM through use of the CDS to rendezvous orbits.Critical Hazard - A condition that may cause a severe injury or occupational illness, loss of mission, or major property damage to facilities, systems, or flight hardware.Demo Flight - The 2008 demonstration flight performed as part of the flight test program.Depot Operations - The operations performed offline to receive and accept new flight hardware components, recertify previously flown hardware components for reuse, and to perform maintenance and repairs within the Line Replaceable Units (LRU's).Destination Surface to Destination Vicinity Phase - Starts with the initiation of the ascent (T0) from the destination surface. Representative mission activities include: ascent, abort, and orbit insertion or libration capture. Phase ends after successful destination vicinity insertion/capture. Destination Vicinity Operations Phase A - Starts at the successful insertion/capture at the destination vicinity. Representative mission activities include: loiter and phasing, vehicle and system checkout, crew-cargo transfers, undocking and separation. Phase ends at the successful separation of surface lander system for descent burn.Destination Vicinity Operations Phase B - Starts after the successful destination orbit insertion or libration point capture, following ascent from destination surface. Representative mission activities include: phasing, vehicle-system checkout, crew-cargo transfer, undocking and separation maneuver, element disposal and/or safing. Phase ends at the completion of theTrans-Earth Injection burn.Destination Vicinity to Earth Phase - Begins with completion of Trans-Earth Injection burn and includes mid-course corrections, cruise to Earth vicinity, element separation and element disposal. Ends with arrival at Earth entry interface or successful Earth orbit injection.Destination Vicinity to Surface Phase - Starts at the initiation of the descent burn from destination vicinity (destination deorbit burn or libration departure burn to destination). Representative mission activities include: descent to destination surface, descent aborts, landing, propulsion system shutdown and safing. For libration architectures, additional activities include orbit capture, phasing, and de-orbit maneuvers. Phase ends when the vehicle has completed all landing activities on the destination surface, including propulsion system shutdown and safing.Development Tests - Any test that provides data needed to reduce risk, to design hardware or software, to define manufacturing processes, to define qualification or acceptance test procedures, or to investigate anomalies discovered during test or operations. Verification credit cannot be taken during development testing.Docking - A method of mating two or more Exploration elements in space. In a docking operation, the structural mechanisms are brought into contact and captured through independent control of the two vehicles' flight path and attitude. Final mating is generally accomplished by the docking mechanism.Earth Ascent Target Orbit - The planned CEV orbit, upon completion of ascent (separation from Crew Launch Vehicle).Earth Departure Stage (EDS) - EDS will be used to provide the propulsive force needed to transfer the various flight elements to destination phasing orbits (including the CEV and LSAM). EDS will be launched on a Cargo Launch Vehicle, and are considered part of the CDS, except when mated to and operating with a crew-occupied flight element.Earth Orbit Operations Phase A - Starts with completion of Earth orbit insertion. Representative activities include: phasing, rendezvous, docking and loiter. Ends with completion of a burn to leave Earth orbit (i.e., Trans-Lunar Injection burn or de-orbit burn).Earth Orbit to Destination Vicinity Phase - Starts after completion of vehicle injection burn (i.e., Trans-Lunar Injection) and includes mid-course corrections, element separation/disposal, and cruise to destination vicinity. Ends with successful insertion/capture at destination vicinity.Earth Re-entry Phase - Begins with completion of Earth orbit injection. Ends with de-orbit burn completion. Encompasses activities necessary to successfully execute direct-to-Earth aborts during ascent.Earth Reference Orbit - The orbit designated for assembly of Exploration System elements prior to departure for exploration destinations, defined by the following parameters: Inclination: 28.5-29.0 degrees; Launch Azimuth: 90+/- 5 degrees; Altitude: 307 km - 407 km.Earth to Orbit Phase - Starts with liftoff. Representative activities include liftoff through ascent to orbit, ascent crew escape/abort and re-entry/descent during aborts, disposal of elements. Ends with insertion to a stable, 24 hour Earth orbit or return to Earth.Electromagnetic Interference (EMI) - What occurs when electromagnetic fields from one device interfere with the operation of some other device.Entry footprint - Region on Earth's surface defined by the boundaries of the CEV Earth entry corridor.Escape - Early mission termination that requires emergency egress of the Crew from the failingspacecraft, possibly using an escape system (e.g., extraction, ejection, escape pod).Evaluation Factors - Criteria (cost and non-cost) by which a contractor's proposal will be evaluated to make a contract award.Exploration Spiral 1 (Crew Transportation System Earth Orbit Mission) - Encompasses the capabilities necessary to insert humans into Earth orbit and return them safely to Earth, employing a post-Space Shuttle flight system. A programmatic constraint has been imposed on Spiral 1: "NASA shall conduct the initial test flight for the Crew Exploration Vehicle before the end of the decade in order to provide an operational capability to support human exploration missions no later than 2014". The flight elements of the Exploration Spiral 1 Crew Transportation System are the Crew Exploration Vehicle and Crew Launch Vehicle. Robotic Precursor Missions that are scheduled to launch prior to the Earth orbit demonstration of the Spiral 1 CTS are considered Exploration Spiral 1 missions.Exploration Spiral 2 (Extended-Duration Lunar Campaign) - Encompasses the capabilities necessary to execute extended-duration human lunar exploration. Extended duration lunar missions will be 4-14 days in duration on the lunar surface, and do not require pre-deployed surface systems (e.g., Habitation Module or Surface Power). A programmatic constraint has been imposed on Spiral 2: "NASA shall conduct the first extended human expedition to the lunar surface as early as 2015, but no later than the year 2020, in preparation for human exploration of Mars and other destinations". Robotic Precursor Missions scheduled to launch after the Spiral 1 CTS flight demonstration, and prior to the first Spiral 3 Lunar mission are considered Exploration Spiral 2 missions.Exploration Spiral 3 (Long-Duration Lunar Campaign) - Encompasses the capabilities necessary to execute a long-duration human lunar exploration campaign. This campaign requires development of extensive surface systems (e.g., habitation and surface power system), and long-duration lunar-vicinity parking capability of the crew transportation system. Long-duration lunar missions will extend from 14-98 days. Robotic Precursor Missions that are scheduled to launch after the last Spiral 2 extended- duration lunar mission, and prior to the initial Exploration Spiral 4 mission are considered Exploration Spiral 3 missions.Exploration Spiral 4 (Crew Transportation System Mars Flyby) - Encompasses the capabilities to conduct a Mars flyby mission using elements of the Human-Mars Crew Transportation System. Upon completion of successful Mars flyby(s), Exploration Spiral 5 will commence. Robotic Precursor Missions scheduled to launch prior to the first Human-Martian surface mission are considered Spiral 4 missions.Exploration Spiral 5 (Human Mars Surface Campaign) - Spiral 5 encompasses the capabilities necessary to execute human Mars exploration missions. Robotic Precursor Missions scheduled to launch after the final Mars flyby mission, and prior to the start of Exploration Spiral 6 (TBD content) are considered Spiral 5 missions.Export Control - U.S. export control laws and regulations, including the International Traffic in Arms Regulations (ITAR), and the Export Administration Regulations (EAR) (see FFS 1825) Export Licenses - Licenses or other approvals from the Department of State of the Department of Commerce related to export of hardware, technical data, or software, or provides technical assistance to a foreign destination or "foreign person" (see NFS 1852.225-70)Extended-Duration (Lunar Mission) - Human missions to the lunar surface ranging from 4 days (96 hours) through 14 days. This capability is an objective of Exploration Spiral 2.Extended-duration lunar missions do not require pre-deployed Surface Systems (e.g., habitation modules or surface power system).Extensibility - Capable of being extended.Facilities - Includes vehicle processing facilities, integration facilities, launch pads, mission control centers, launch control centers, control rooms, training, test, checkout, and assembly facilities with associated data processing and communication systems.Facility Loading - The level that a facility is expected to be used. For example, if nominal usage is defined as 40 hours of simulation support per week and 50 hours are required during key periods, facility loading would be 110%.Facility Systems - Systems necessary to support the operations of the facility. Examples are facility electrical power, water, pneumatics, cranes, etc. It does not include ground support equipment.Fault Tolerance - The ability of a system to cope with internal problems and still continue to operate with minimal impact.FDIR - Fault Detection, Isolation, and Recovery. The means to detect off-nominal conditions, isolate the problem to a specific subsystem/component, and recover of vehicle systems and capabilities. FDIR may be accomplished by the onboard crew, onboard software algorithms, ground commanding, or a combination of the preceding methods.FDIR Algorithm - An onboard software algorithm for the purpose of performing Fault Detection, Isolation, and/or Recovery of vehicle systems and capabilities.Fit Checks - An engineering test, where hardware that is to be installed on a future mission, is brought together on the ground and structural interfaces are verified by physically mating the hardware.Flight Controller - A mission operations team member that supports the CEV vehicle and flight crew anytime from pre-launch through vehicle recovery. A flight controller has a specified discipline of responsibility and a console from which he/she supports the flight operations.Flight Design & Analysis - The activities performed to design the vehicle flight trajectory, mass properties profile, consumables profiles, and other parameters to execute all phases of the mission without violating any hardware, software, or operational constraints.Flight Element - Major flight component of the Constellation System of Systems.Flight Operations - the activities performed to use the spacecraft and support the crew to accomplish the mission objectives. These operations include flight design and analysis, flight planning, and crew and mission operations. The scope of flight operations begins with the early, pre-flight analyses and flight planning, flight product and procedure development and flight execution by the crew and mission operations.Flight Planning - The process of developing a detailed mission flight plan that satisfies all mission requirements. The requirements are integrated into a single plan for ground and crew execution which includes flight design requirements, vehicle operational constraints (thermal conditioning, communications, attitude maneuvers, antenna pointing etc), crew scheduling constraints and payload requirements.Flight Operations Products - Documents and analyses used for flight preparation and execution. Flight Rules - A collection of outline preplanned decisions to minimize the amount of real-time rationalization required for nominal and off-nominal situations affecting the mission or vehicle during a flight.Flight Tests - Any test that involves flight. For CEV, flight tests consist of the 2008 and 2011 flight demonstrations and the 2014 integrated flight.Functional Tests - Operating tests that confirm that a particular hardware or software item functions in a way that will permit it to meet allocated requirements.Ground Operations - The activities performed to prepare the flight hardware using ground systems for launch and post landing operations. Includes planning, ground processing, launch, and post landing operations.Ground Operations Phase - Begins with the start of mission planning. Representative activities include: mission planning, training, receipt of government hardware/software, acceptance, test, checkout, repair, inspection, assembly, integration, servicing and countdown activities. Also includes ground contingency, emergency, abort and turnaround operations. Phase ends with vehicle liftoff.Ground Planning - The preparation activities for ground processing and launch operations. Ground Processing - The activities performed to prepare the personnel, ground systems and flight vehicles during preflight operations.Ground Support Equipment (or Support Equipment) - Hardware and software designed to interface, transport, service, checkout, or handle flight hardware. It is used during assembly and test of flight hardware and to control the configuration of the flight hardware.Ground Support System - This system provides all common ground-based capabilities (e.g., mission control, launch-site processing) needed to execute Exploration missions. Facilities and capabilities that are unique to a single Exploration System, such as the CTS, will be included as part of the system it supports.Ground Systems - The facilities and facilities systems, ground support equipment hardware and software, and training systems which are required to support integrated test and operational flights. The ground systems include those needed for ground operations, flight operations, and training. Ground System Operations - The operation of facilities, facility systems, ground support equipment, and associated software when the flight hardware is not present. These operations typically include validation of ground systems, preventative maintenance, and post-launch refurbishment operations. Also, includes the operation of training systems, whether for system maintenance and validation, or for use to certify/train Flight and Ground Operations personnel. For operations of Ground Systems when flight hardware is involved, see Ground Operations. Ground Tests - Any test performed on system elements or the complete system that does not involve flight. Ground testing includes development, functional, integration, qualification, acceptance, pre-flight, and flight-worthiness tests.Guidance and Control - The process of directing the movements of a space vehicle, including selection of a flight path and making changes in attitude and speed.Hardware-in-the-loop (HWIL) Tests - Tests conducted with hardware under test, where a simulation forms part of the test support equipment.Incentive - A fee offered to a contractor in accordance with the terms and conditions of the contract for superior performance.Inclination - The angle between the plane of an orbit and the Earth's equator for all geocentric orbits.In-Space Support System (IS3) - This system will encompass capabilities provided by infrastructure elements (e.g., a communication satellite) that are placed in orbital, orlunar/planetary locations. These capabilities are exclusive of those provided by elements of the DSS.Independent Technical Authority (ITA) - A warrant issued by the NASA Chief Engineer, which identifies the holder as compliance officer over an identified set of engineering and technical standards.Initial Lunar Phasing Orbit - Used in Spiral 2 and 3 to define the orbit where the CEV will assume delta V requirements for docking in lunar orbit. Defined by the following parameters: Altitude: 100 km x 500 km +/- TBD km (TBR); Maximum inclination error with respect to the Lunar Reference Orbit; 0.5 degrees.Integrated Collaborative Environment (ICE) - The primary means of sharing, reporting, collecting, recording and accessing program information between NASA, CEV Contractor, major/critical subcontractors and authorized U.S. Government personnel connected with the CEV program. ICE provides real-time collaborative access to a single source of management information, product information and technical data. ICE is the principal mechanism for integrating a "program" digital information management environment.Integrated Flight Operations Execution - Activities associated with the plans, processes, and schedules required for the integrated test and operational flight execution. This encompasses real-time support for all phases and aspects of mission and crew operations beginning with pre-launch activities through post-landing egress of the flight crew.Integrated Master Schedule (IMS) - The IMS is an integrated, master schedule containing the networked, detailed tasks necessary to support the events, accomplishments, and criteria of the IMP. The execution IMS shall contain all of the contract IMP events, accomplishments, and criteria from contract award to completion of the contract. The IMS shall be a logical network-based schedule that correlates to the program WBS, and is vertically and horizontally traceable to the cost/schedule reporting instrument used to address variances (such as Cost Performance Report (CPR) and 533 Cost Reporting (533M/533Q).Integrated Operations - The activities that involve the spacecraft and other flight elements or the resources of multiple organizations.Integrated Product and Process Development (IPPD) - a management technique that simultaneously integrates all essential product development activities through the use of multi-disciplinary teams to optimize design, manufacturing and supportability processes. It is a systematic approach to the integrated, concurrent design of products and related processes, including manufacturing and support. IPPD is intended to cause designers and developers to consider all relevant life-cycle elements during the initial and early phases of technology or product development.Integrated Product Team (IPT) - Use of multi-functional teams to make team related decisions based on timely input from the entire team.Integrated Test Flights - flights where the spacecraft is integrated to another element(s) (e.g. CEV launch vehicle) with operational control performed by the combined government/contractor team. This covers the proposed flights from 2011 to the beginning of operational flights.Integration Tests - Tests conducted to verify functional performance has been achieved after hardware and/or software items are assembled and interfaces activated.Item Tests - Tests at the component or item level (i.e., the lowest element of the system that is serialized or otherwise tracked).。
项目管理专用中英文术语词汇
项目管理专用中英文术语词汇22、沟通规划，Communications Planning1、活动，Activity2、活动定义，Activity Definition 23、并行工程，Concurrent Engineering3、活动描述/ 说明，AD=Activity Description 24、意外费用，Contingencies4、活动历时估算，Activity Duration Estimating 25、意外准备金，contingency Allowance5、箭线网络图（双代号网络图），AOA=Activity-On-Arrow 26、意外规划，Contingency Planning6、节点式网络图（单代号网络图），AON=Activity-on-Node 27、意外储备，Contingency Reserve 7、已执行工作实际成本，ACWP=Actual Cost of Work 28、合同，ContractPerformed29、合同管理，Contract Administration8、实际完成日期，AF=Actual Finish Date30、合同收尾，Contract Close-out9、实际开始日期，AS=Actual Start Date31、控制，Control10、行政收尾，Administrative Closure32、控制图，Control Chart11、箭线，Arrow33、纠正措施，Corrective Action12、箭线图示法，ADM=Arrow Diagramming Method34、费用预算，Cost Budgeting13、逆推计算法，Backward Pass35、费用控制，Cost Control14、横道图，Bar Chart36、费用做算，Cost Estimating15、基准计划，Baseline37、质量成本，Cost of Quality16、完工预算，BAC=Budget At Completion38、费用绩效指数，CPI=Cost Performance Index 17、概算，Budget Estimate39、费用偏差，CV=Cost Variance18、已执行预算成本，BCWP=Budgeted Cost of WorkPerformed 40、赶工，Crashing19、计划执行预算成本，BCWS=Budgeted Cost of Scheduled 41、关键工序，Critical Activity20、日历单位，Calendar Unit 42、关键路线，Critical Path21、变更控制委员会，CCB=Chang Control Board 43、关键路线法，CPM=Critical Path Method44、当前完成日期，Current Finish Date45、当前开始日期，Current Start Date46、数据日期，DD=Data Date47、交付物，Deliverable48、依赖关系，Dependency49、虚活动，Dummy Activity50、延续时间，DU=Duration51、延续时间压缩，Duration Compression52、最早完工日期，EF=Early Finish Date53、最早开始日期，ES=Early Start Date54、挣值法，EV=Earned Value55、挣值分析，Earned Value Analysis56、人工量，Effort57、估算，概算，Estimate58、在完成时的费用估算，EAC=Estimate At Completion59、到完成时的估算，ETC=Estimate To Complete60、单节点事件图，Event-on-Node61、例外报告，Exception Report62、完成日期，Finish Date63、完成到完成关系，FF=Finish-to-Finish64、完成到开始关系，FS=Finish-to-Start65、时差，机动时间，浮动时间，Float66、顺推计算法，Forward Pass67、自由时差，FF=Free Float68、职能经理，Functional Manager69、职能组织，Functional Organization70、甘特图，Gantt Chart71、图解评审技术，GERT=Graphical Evaluation and ReviewTechnique72、集合工作，Hammock73、悬摆，Hanger74、信息分发，Information Distribution75、立项，Initiation76、成本/ 进度综合报告，Integrated Cost/Schedule Reporting77、邀标，IFB= Invitation for Bid78、关键事件进度计划，Key Event Schedule79、滞后量，Lag80、最晚完成日期，LF=Late Finish Date81、最晚开始日期，LS=Late Start Date82、提前量，Lead83、全生命期成本估算，Life-cycle Costing84、产品经理，Line Manager85、逻辑图，Logic Diagram86、逻辑关系，Logical Relationship108、线路时差，Path Float87、回路，Loop109、完成百分比，PC=Percent Complete88、管理储备量，Management Reserve110、执行报告，Performance Reporting89、主进度计划，Master Schedule111、执行机构，Performing organization90、矩阵型组织，Matrix Organization112、计划评审技术图，PERT Chart91、里程碑，Milestone113、计划的完成日期，PF=Planned Finish Date92、里程碑进度计划，Milestone Schedule114、计划的开始日期，PS=Planned Start Date93、现代项目管理，MPM=Modern Project Management115、优先图示法，PDM=Precedence Diagramming Method 94、监控，Monitoring116、优先关系，Precedence Relationship95、蒙托卡罗分析，Monte Carlo Analysis117、紧前工作，Predecessor Activity96、次关键工作，Near-Critical Activity118、采购规划，Procurement Planning97、网络，Network119、工程，Program98、网络分析，Network Analysis120、计划评审技术，PERT=ProgramEvaluation and Review 99、网络逻辑，Network LogicTechnique100、网络路线，Network Path 121、项目，Project101、节点，Node 122、项目许可证，Project Charter102、组织分解结构，OBS=Organizational Breakdown 123、项目沟通管理，Project Communication Management Structure124、项目费用管理，Project Cost Management 103、组织规划，Organizational Planning104、整体变更控制，Overall Change Control 125、项目人力资源管理，Project Human ResourceManagement105、重叠，Overlap 126、项目综合管理，Project Integration Management 106、参数估算法，Parametric Estimating 127、项目生命周期，Project Life Cycle128、项目管理，PM=Project Management107、线路，Path129、项目管理知识体系，PMBOK=Project Management Bodyof Knowledge 151、请求建议书，RFP=Request for Proposal130、项目管理软件，Project Management Software 152、请求报价单，RFQ=Request for Quotation 131、项目管理团队，Project Management Team 153、储备量，Reserve132、项目经理，PM=Project Manager 154、资源平衡，Resource Leveling133、项目网络图，Project Network Diagram 155、资源约束进度计划，Resource-Limited Schedule 134、项目阶段，Project Phase 156、资源规划，Resource Planning135、项目计划，Project Plan 157、责任分配矩阵，RAM=Responsibility AssignmentMatrix136、项目计划开发，Project Plan Development158、责任图，Responsibility Chart 137、项目计划实施，Project Plan Execution159、责任矩阵，Responsibility Matrix 138、项目规划，Project Planning160、保留金，Retain age139、项目采购管理，Project Procurement Management161、突发事件，Risk Event 140、项目质量管理，Project Quality Management162、风险识别，Risk Identification 141、项目风险管理，Project Risk Management163、风险应对控制，Risk Response Control 142、项目进度计划，Project Schedule164、风险应对开发，Risk Response Development 143、项目范围管理，Project Scope Management165、 S 曲线，S-Curve144、项目团队成员，Project Team Member166、进度计划，Schedule 145、项目时间管理，Project Time Management167、进度计划分析，Schedule Analysis 146、项目型组织，Project Organization168、进度计划压缩，Schedule Compression 147、质量保证，QA=Quality Assurance169、进度计划控制，Schedule Control 148、质量控制，QC=Quality Control170、进度执行指数，SPI=Schedule Performance Index 149、质量规划，Quality Planning171、进度偏差，SV=Schedule Variance150、剩余持续时间，RDU=Remaining Duration计划完成日期，SF=Scheduled Fi nish Date 194、目标时度计划，Target Schedule计划开始日期，SS=Scheduled Start Date 195、任务，Task范围，Scope 196、团队建设，Team Developme nt范围基准计划，Scope Baseli ne 197、团队成员，Team members范围变更，Scope Cha nge 198、时标网络图，Time-Scaled Network Diagram范围变更控制，Scope Cha nge Co ntrol 199、目标完成日期，TF=Target Fi nish Date范围定义，Scope Defi ni tio n 200、目标开始日期，Ts=Target Start Date范围规划，Scope Pla nning 201、总时差，TF=Total Float范围验证，Scope Verificatio n 202、全面质量管理，TQM=Total Quality Ma nagement时差，Slack 203、权变措施，Workarou nd询价，Solicitati on 204、工作分解结构，WBS=Work Breakdow nStructure询价规划，Solicitati on 205、工作包，Work Package工作人员招募，Staff Acquisiti on项目相关者，Stakeholder开始日期，Start Date开始到完成关系，Start-to-Fi nish开始到开始关系，Start-to-Start工作说明，SOW=Stateme nt of Work子网，Sub net子网络，Sub net Work后续工作，Successor Activity目标完成日期，TC=Target Completion Date 项目管理专业术语中英文对照表验收-(Acceptance)指客户检查接受项目交付物的过程。
机械工程学专业词汇英语翻译(S)
机械工程学专业词汇英语翻译(S)safe load 安全载荷safe seismic distance 安全震距safe stress 安全应力safety coefficient 安全系数safety element 安全元件safety explosive 安全炸药safety factor 安全因数safety limit 安全限值safety valve 安全阀saffman force 萨夫曼力sag 下弯saha equation 萨哈方程saint venant principle 圣维南原理saltation 跃移saltation velocity 跃移速度sample 试样sampling 采样sampling average 采样平均sampling error 取样误差sand heap analogy 沙堆比拟sand hill analogy 沙堆比拟sand wave 沙波sandwich 层叠物sandwich plate 多层板sandwich type shell 夹层壳satellite 卫星satellite dynamics 卫星动力学saturated air 饱和空气saturated gas 饱和气体saturated porous media 饱和多孔介质saturated steam 饱和蒸汽saturated vapor pressure 饱和蒸汽压saturated vapour 饱和蒸汽saturation 饱和saturation adiabat 饱和绝热线saturation curve 饱和曲线saturation pressure 饱和压力saturation ratio 饱和度saturation state 饱和状态saturation temperature 饱和温度saturation value 饱和值saturation vapour pressure 饱和蒸汽压sawtooth pulse 锯齿形脉冲sawtooth wave 锯齿波sawtooth wave oscillation 锯齿波形振荡scalar 标量scalar coupling 标量耦合scalar field 标量场scalar matrix 标量矩阵scalar potential 标量势scalar product 标积scalar quantity 标量scalar tensor 标量张量scale effect 尺度效应scale length 标尺长度scale of hardness 硬度计scale of turbulence 湍陵度scales 天平scaling law 标度律scattered light method 散光法scattered wave 散射波scattering 散射scattering amplitude 散射幅度scattering angle 散射角scattering coefficient 散射系数scattering cross section 散射截面scattering ellipse 散射椭圆scattering error 散射误差scattering in 内散射scattering intensity 散射强度scattering length 散射长度scattering resonance 散射共振schlieren method 纹影法schuler period 舒勒周期sclerometric hardness 刮痕硬度scleronomic constraints 与时间无关的约束scleronomous binding 与时间无关的约束scleroscope 回跳硬度计scleroscope hardness 回跳硬度scratch hardness 刮痕硬度scratch hardness test 刮痕硬度试验screw axis 螺旋轴screw dislocation 螺旋位错screw displacement 螺旋位移screw motion 螺线运动screw propeller 螺旋推进器螺旋桨sea wave 海洋波seal force 气封力seaplane 水上飞机season crack 自裂second class constraint 第二类约束second cosmic velocity 第二宇宙速度second law of dynamics 动力学第二定律second law of thermodynamics 热力学第二定律second of time 时秒second order elasticity 二阶弹性second order fluid 二阶铃second problem of dynamics 动力学知问题second viscosity coefficient 第二粘度系数secondary collision 二次碰撞secondary compression 二次压缩secondary consolidation 二次固结secondary creep 第二阶段蠕变secondary explosion 二次爆炸secondary flow 次级流secondary load 二次负载secondary moment 副力矩secondary motion 次级运动secondary principal stress 次枝力secondary resonance 次级共振secondary simulation error 二次模拟误差secondary stress 次应力secondary structure 次级结构secondary undulation 次波动secondary wave 次级波seconds pendulum 秒摆section 截面section modulus 截面模数section wave 截面波sectional area 截面积sectional drawing 切面图sectorial area 扇形面积sectorial moment of inertia 扇形惯性矩secular determinant 久期行列式secular equation 久期方程sediment runoff 泥沙运载量sedimentation 沉降sedimentation analysis 沉积分析sedimentation balance 沉积天平sedimentation flow 沉积流sedimentation velocity 沉降速度seepage 渗透seepage flow 渗流seepage pressure 渗透压力segment of a circle 弓形segmentation 分割segregation 偏析seiche 湖面波动seism 地震seismic coefficient 地震系数seismic conductivity 地震波传导性seismic effect 地震效应seismic focus 震源seismic force 地震力seismic load 地震荷载seismic pendulum 地震摆seismic pickup 地震拾波器seismic prospecting 震波勘探seismic region 地震区seismic response 地震响应seismic sea wave 地震海啸seismic spectrum 地震波谱seismic surges 地震海啸seismic system 地震系统seismic wave 地震波seismicity 地震活动度seismogram 地震记录图seismograph 地震仪selection 选择self acting control 直接控制self adjusting 自动蝶的self aligning 自的的self alignment 自行的self balancing 自动平衡的self balancing device 自平衡装置self centering 自动定心的self contraction 自收缩self correlation function 自相关函数self damping 自衰减self diffusion 自扩散self diffusion coefficient 自扩散系数self diffusion current 自扩散流self diffusion velocity 自扩散速度self energy 自能self excitation 自激self excited vibration 自激振动self heating 自热self ignition 自点火self inductance 自感self locking 自锁self lubrication 自动润滑self oscillation 自振荡self power 固有功率self radiation 自辐射self regulation 自第self rotation 本正转self scattering 自散射self similar flow 自相似流self similarity 自相似self simulation 自模拟self stress 自具应力self thermal diffusion 自热扩散selsyn 自动同步机semi analytical method 半解析法semi axis 半轴semi circle 半圆semi circular 半圆的semi classical method 半经典的方法semi elliptic spring 半椭圆形弹簧semi infinite body 半无限体semi inverse method 半逆法semi liquid state 半液态semi major axis 长半径semi permeable 半渗透的semi turbulent 半湍聊semiconductor strain gage 半导体应变仪sense of rotation 转动方向sensitivity 灵敏度sensitivity constant 灵敏度常数sensitivity to deformation speed 变形速度灵敏度sensitization 敏化sensor 传感器separated boundary layer 分离边界层separated flow 分离流separation factor 分离因子separation method 分离法separation of variables 变数分离separation point 分离点sequence 序列series 系列serviceability 适用性servo system 伺服系统set noise 机齐声set up 胆setback 后退setting 安装setting frequency 导频率settled creep 似粘性蠕变settlement 沉积settling velocity 沉降速度sextant 六分仪shading 阴影法shadow 阴影shadow factor 阴影因数shadow method 阴影法shadow zone 阴影区shadowgraph 影象图shadowgraph method 描影法shafranov kruskal criterion 沙弗拉诺夫克鲁斯卡尔判据shaft 轴shaft axis 轴心线shaft friction 表面摩擦shaft horsepower 轴马力shaft journal 轴颈shake down 振动硬化shake off effect 振动效应shaking 摇荡shaking conveyer 振动输送机shaking out 振摇萃取shaking screen 摇动筛shaking table 振动台shallow notch 浅切口shallow shell 扁壳shallow water 浅水区shallow water theory 浅水理论shallow water wave 浅水波shape anisotropy 形状蛤异性shape elasticity 形状弹性shape factor 形状因子；形状因数shape parameter of boundary layer 边界层的形状参数shape relaxation 形状弛豫shaping 成形shapiro step 夏皮罗级shattering 破碎shear 剪切shear center 剪心shear crack 剪切裂隙shear deformation 剪切应变shear difference method 剪应力差法shear elasticity 切变弹性shear failure 剪切破坏shear fracture 剪切破坏shear grade 剪切梯度shear lag 剪切滞后shear line 剪切线shear mode 剪切振模shear modulus 剪切模量shear plane 剪切面shear plane method 剪切面法shear resistance 剪切阻力shear strain 剪切应变shear strain energy 剪应变能shear strength 抗剪强度shear stress 剪应力shear stress line 剪应力线shear stress tensor 剪切应力张量shear surface 切变面shear test 剪切试验shear transfer 剪切传递shear turbulence 剪湍寥shear vibration 剪切振动shear viscosity 切变粘度shear wave 等容波sheared edge 剪切边缘shearing area 剪切面积shearing center 剪心shearing coefficient 切变系数shearing curve 剪切曲线shearing elasticity modulus 切变模数shearing error 剪切误差shearing field rheometer 剪切场龄计shearing flow 剪流shearing force 剪力shearing force diagram 剪力图shearing impact 剪切冲击shearing instability 剪切失稳shearing load 剪切载荷shearing method 剪切法shearing moment 剪切力矩shearing rigidity 抗剪刚度shearing stress 剪应力shearing velocity 剪切速度sheet 薄板sheet bar 薄板畔sheet thickness 薄板厚度shell 壳shell of many layers 夹层壳shell of revolution 旋转壳shell theory 壳理论shielding 屏蔽shift 位移shift angle 位差角shift diagram 位移图shift factor 位移因子shift matrix 位移矩阵shift structure 错列结构shift surface 位移面ship 船ship hull 船体ship oscillation 船舶振荡ship resistance 船舶阻力ship wave 船行波shoal water 浅水区shock 冲击撞击shock absorber 缓冲器缓冲装置shock absorption 冲稽收shock adiabat 冲圾热线shock angle 撞磺shock coefficient 撞坏数shock condition 冲货件shock diffuser 激波扩散器shock eliminator 缓冲器减震器shock equation 激波方程shock excitation 撞护发shock expansion 冲还开shock free 无冲荒shock front 激波前沿shock front thickness 激波前沿厚度shock isolation 冲霍离shock isolator 冲霍离器shock layer 激波层shock limitation 激波限制shock line 激波线shock load 冲簧重shock mach number 激波马赫数shock momentum 撞化量shock motion 冲凰动shock normal 冲花线shock polar 激波极线shock polaric diagram 激波极线图shock potential 冲黄shock pressure 冲还力shock proof 抗震的shock propagation 激波传播shock pulse 冲祸冲shock relaxation 激波弛豫shock resistance 冲昏力shock response 冲混应shock response spectrum 冲混应谱shock stall 激波失速shock strength 冲豢度shock stress 冲沪力shock test 冲辉验shock transfer 冲猾递shock tube 激波管shock wave 激波shock wave curvature 激波波前曲率shock wave drag 激波阻力shock wave heating 冲花加热shock wave relation 冲花关系式shockley barrier layer 肖克利势垒层shockley partial dislocation 肖克利型定域位错shoot 急流shooting flow 快速射流急流shore hardness 肖氏硬度shore scleroscope test 肖氏硬度试验short crested wave 短峰波short distance scattering 近距散射short fiber 短纤维short period perturbation 短周期扰动short range force 短程力short term strength 短期强度short time creep strength 短时蠕变强度short time test 快速试验short wave 短波short wave radiation 短波辐射shortness 脆性shot firing 点火shot peening 喷丸硬化shot point 爆破点shrinkage 收缩shrinkage allowance 收缩容许量shrinkage crack 收缩裂缝shrinkage factor 收缩因数shrinkage porosity 收缩孔隙度shrinkage pressure 收缩压强shrinkage stress 收缩应力shut down 停止shutoff 停止side displacement 侧面位移side drag 侧面阻力side overflow 横向溢流side pressure 侧压力side wave 边频波sideslip 侧滑sidewall 侧壁sidewind 侧风sieve mesh 筛孔sieve plate 筛板sign 记号signal 信号silencer 消声器silo 导弹地下仓库similar 相似的similar test 相似检验similarity 相似similarity criterion 相似准则similarity law 相似性定律similarity parameter 相似参数similarity principle 相似性原理similarity rule 相似规则similarity theorem 相似性定律similarity theory 相似理论similarity transformation 相似变换similitude 相似simple 单纯的simple beam 简支梁simple bending 单纯弯曲simple closed curve 简单闭曲线simple elastoplastic problem 简单弹塑性问题simple equivalent pendulum 单摆simple harmonic motion 简谐振动simple harmonic oscillation 简谐振动simple harmonic oscillator 简谐振子simple harmonic wave 简谐波simple hinge 单铰链simple loading 简单加载simple loading theorem 简单加载定理simple material 简单物质simple oscillation 简单振荡simple pendulum 单摆simple refraction 单折射simple shear 简单剪切simple shearing strain 简切应变simple shearing stress 简单切应力simple solid material 简单固体材料simple supported edge 简支边simple system 单一系统simple tension 简单拉伸simple torsion 简单扭转simple truss 简单桁架simple vibration 简单振荡simple wave flow 简单波流simplex interpolation 简单内插simply periodic function 简单周期函数simply supported beam 简单支撑梁simpson's rule 辛普森法则simulated process parameter 模拟过程参数simulated system parameter 模拟系参数simulation 模拟simulation error 模拟误差simulator 模拟装置simultaneity 同时性simultaneous 同时的simultaneous blasting 齐发爆破simultaneous earthquake 同时地震sine 正弦sine wave 正弦波singing 振鸣single crystal 单晶single dislocation 单一位错single force 集中力single phase 单相的single refraction 单折射single rotor 单转子single scattering 单散射single stage compression 单级压缩single stage compressor 单级压缩机single stage pump 单级泵single valuedness 单值性single wave 孤立波singular function 奇异函数singular integral 奇异积分singular perturbation method 奇异微扰法singular point 奇点singular solution 奇异解singular surface 奇异曲面singularity 奇异性sink 汇sink flow 汇流sinking speed 降落速度sinking velocity 沉降速度sintering point 软化点sinusoidal curve 正弦曲线sinusoidal law 正弦定律sinusoidal quantity 正弦量sinusoidal spiral 正弦螺线sinusoidal wave 正弦波siphon 虹吸管site 场地size 尺寸size distribution 粒度分布size reduction 破碎skeletal structure 骨架结构skeletal vibration 骨架振动skeleton 骨架skeleton diagram 方框图skeleton line 骨架线skew 倾斜的skew anisotropy 斜蛤异性skew bridge 斜桥skew distribution 非对称性分布skew lines 斜直线skew symmetry 斜对称skin 囚skin depth 囚深度skin friction 表面摩擦skin friction resistance 表面摩擦阻力skin friction stress 表面摩擦应力skin resistance 表面阻力skip phenomenon 跳跃现象skipped distance 跳跃距离slab 平板slant distance 斜距slat 前缘缝翼sleeve 轴套slender body 细长体slender profile 细长翼slender rod 细杆slender wing 小展弦比机翼slenderness 细长比slenderness ratio 细长比slide 滑动slide valve air pump 滑阀空气泵slider 滑板sliding bearing 滑动轴承sliding contact 滑动接触sliding friction 滑动摩擦sliding friction torque 滑动摩擦力矩sliding mode crack 滑移型裂纹sliding motion 滑动sliding pressure 滑动压sliding resistance 滑动阻力sliding surface 滑动面sliding vector 滑移矢量sliding weight 滑锤slight earthquake 轻微地震slip band 滑移带slip coefficient 滑恋数slip direction 滑移方向slip flow 滑流slip frequency 差频slip line 滑动线slip moment 滑动力矩slip plane 滑移面slip ratio 滑动比slip ring 滑环slip speed 转差速率slip stream 滑流slip surface 滑动面slip system 滑移系slip vector 滑移矢量slip velocity 滑临度slip zone 滑移区slippage tensor 滑僚量slipping 滑动slipstream effect 滑璃应slit 缝隙slope 倾斜slope current 倾斜流坡度流slope deflection 斜挠度slope deflection method 角变位移法slope distance 斜距slope failure 边坡破坏slope of surface 水面坡度slope resistance 坡度阻力slot 缝slow 慢的slow boundary layer 慢边界层slow flow 缓流slow motion 慢速移动slow release 慢释放slowing down 减速slowly varying component 慢变分量slug flow 慢流slurry pump 泥浆泵small amplitude oscillation 小振幅振荡small angle collision 小角碰撞small calorie 克卡small deformation 小变形small hardness 微硬度small oscillation 小振荡small scale turbulence 小尺度湍流smoke gas 烟气smoke wind tunnel 烟风洞smooth flow 平滑怜smooth pipe 光滑管道smooth surface 光滑面smooth tube 光滑管道smoothed curve 光滑曲线smoothing 平滑化smoothness 平滑度smoothness properties 平滑特性snaking 蛇行snow load 雪载soaking 浸渍soap film analogy 肥皂膜比拟soaring 滑翔soft shell 软壳softening 软化softening point 软化点soil characteristic 土的特性soil dynamics 土动力学soil erosion 土壤侵蚀soil humidity 土壤水分soil mechanics 土力学soil moisture 土壤水分soil pressure 土压soil suction force 土壤抽吸力soil temperature 土壤温度solar tidal wave 太阳潮汐波solar wind 太阳风solid 固体solid angle 立体角solid body 固体solid friction 固体摩擦solid gas interface 固气界面solid liquid interface 固液界面solid mechanics 固体力学solid of revolution 旋转体solid of rotation 旋转体solid phase 固相solid physical mechanics 固体物理力学solid plastic 固塑性的solid propellant rocket 固体燃料火箭solid solid interface 固固界面solid state 固态solidification 凝固solidification heat 凝固热solidification point 凝固点solidification shrinkage 凝固收缩solidity 固态solifluction 泥流solitary wave 孤立波solute boundary layer 溶质边界层solution 解sonic bang 声击sonic barrier 声障sound absorption 声吸收sound damping coefficient 声阻尼系数sound energy 声能sound insulating material 隔声材料sound oscillation 声振荡sound pressure 声压sound pressure level 声压级sound proof 隔音的sound velocity 声速sound wave 声波source 源source flow 源流source function 源函数source of seismic wave 地震波源space centrode 固定瞬心轨迹space cone 定瞬轴锥面space coordinates 空间坐标space craft 宇宙飞船space curve 空间曲线space distribution 空间分布space flight 宇宙飞行space framework 立体构架space inversion 空间反演space lattice structure 空间晶格结构space motion 空间运动space perception 空间感受space potential 空间势space problem 空间问题space reflection 空间反演space system 空间系space tensor 空间张量space time coordinates 时空坐标系space time correlation 时空关联space time curve 时空曲线space time law 路径时间定律space time structure 时空结构space truss 空间桁架space vehicle 宇宙飞船space velocity 空间速度space wave 空间波spacecraft 宇宙飞船spacing wave 间隔波spallation 破碎spallation cross section 散裂截面span 跨距span length 跨长spar 翼梁spare 备件spark hardening 放电硬化spatial expansion 空间膨张spatial kinematic chain 空间运动链spatial shear wave 空间切变波special perturbation 特殊微扰special relativity theory 狭义相对论specific action potential 比酌势specific deformation energy 比形变能specific destruction work 比破坏功specific discharge 通量密度specific elongation 延伸率specific entropy 比熵specific flow 比量specific flow rate 比潦specific force 比力specific free energy 比自由能specific gravity 比重specific head 比压头specific heat 比热specific heat at constant pressure 恒压比热specific heat at constant volume 恒容比热specific impulse 比推力specific internal energy 比内能specific kinetic energy 比动能specific mass 比质量specific plastic 比塑性specific potential 比势specific power 比功率specific pressure 比压。
TEB_算法中机器人平稳避障策略研究
ｄｏｉ：１０．３９６９／ｊ．ｉｓｓｎ．１００３－３１０６．２０２４．０１．０２９引用格式：赵晓东，曹梦颖，宿景芳．ＴＥＢ算法中机器人平稳避障策略研究［Ｊ］．无线电工程，２０２４，５４（１）：２２３－２２９．［ＺＨＡＯＸｉａｏｄｏｎｇ，ＣＡＯＭｅｎｇｙｉｎｇ，ＳＵＪｉｎｇｆａｎｇ．ＲｅｓｅａｒｃｈｏｎｔｈｅＳｔａｂｉｌｉｔｙｏｆＯｂｓｔａｃｌｅＡｖｏｉｄａｎｃｅｆｏｒＭｏｂｉｌｅＲｏｂｏｔｓｉｎＴＥＢＡｌｇｏｒｉｔｈｍ［Ｊ］．ＲａｄｉｏＥｎｇｉｎｅｅｒｉｎｇ，２０２４，５４（１）：２２３－２２９．］ＴＥＢ算法中机器人平稳避障策略研究赵晓东，曹梦颖，宿景芳（河北科技大学信息科学与工程学院，河北石家庄０５００１８）摘 要：时间弹性带（ＴｉｍｅＥｌａｓｔｉｃＢａｎｄ，ＴＥＢ）算法由于其具有运动学约束、最快路径约束的特点被广泛用于实时局部路径规划和避障，但是在非结构化的动态社会环境进行导航的情况下，强转弯时存在速度输出不稳定的问题，这对于移动机器人的整个前进过程是非常不利的。
为了解决这一问题，将轨迹曲率作为一种新的约束引入ＴＥＢ算法，提出了基于曲率速度控制的时间弹性带（ＣｕｒｖｅＳｐｅｅｄＣｏｎｔｒｏｌＴＥＢ，ＣＳＣ ＴＥＢ）算法。
在ＣＳＣ ＴＥＢ算法中，移动机器人在实时避障时的最大瞬时速率能够根据其与行进路径的航向变化程度做出一定调整。
实验结果表明，应用ＣＳＣ ＴＥＢ算法能够使移动机器人在躲避障碍物时具有更加平稳的速度，同时输出较平滑的轨迹曲线，避免了原始ＴＥＢ算法中的速度抖动现象。
在静态和动态场景中，移动机器人躲避障碍物时具有更加稳定的速度曲线，保证机器人在安全避障的前提下路径总耗时降低了１５．０２％，从整体上提升了路径规划效率。
关键词：时间弹性带算法；移动机器人；路径规划；轨迹曲率；避障中图分类号：ＴＰ２４２文献标志码：Ａ开放科学（资源服务）标识码（ＯＳＩＤ）：文章编号：１００３－３１０６（２０２４）０１－０２２３－０７ＲｅｓｅａｒｃｈｏｎｔｈｅＳｔａｂｉｌｉｔｙｏｆＯｂｓｔａｃｌｅＡｖｏｉｄａｎｃｅｆｏｒＭｏｂｉｌｅＲｏｂｏｔｓｉｎＴＥＢＡｌｇｏｒｉｔｈｍＺＨＡＯＸｉａｏｄｏｎｇ，ＣＡＯＭｅｎｇｙｉｎｇ，ＳＵＪｉｎｇｆａｎｇ（ＳｃｈｏｏｌｏｆＩｎｆｏｒｍａｔｉｏｎＳｃｉｅｎｃｅａｎｄＥｎｇｉｎｅｅｒｉｎｇ，ＨｅｂｅｉＵｎｉｖｅｒｓｉｔｙｏｆＳｃｉｅｎｃｅａｎｄＴｅｃｈｎｏｌｏｇｙ，Ｓｈｉｊｉａｚｈｕａｎｇ０５００１８，Ｃｈｉｎａ）Ａｂｓｔｒａｃｔ：ＴｈｅＴｉｍｅＥｌａｓｔｉｃＢａｎｄ（ＴＥＢ）ａｌｇｏｒｉｔｈｍｉｓｗｉｄｅｌｙｕｓｅｄｆｏｒｒｅａｌ ｔｉｍｅｌｏｃａｌｐａｔｈｐｌａｎｎｉｎｇａｎｄｏｂｓｔａｃｌｅａｖｏｉｄａｎｃｅｂｅｃａｕｓｅｏｆｉｔｓｋｉｎｅｍａｔｉｃｓｃｏｎｓｔｒａｉｎｔｓａｎｄｆａｓｔｅｓｔｐａｔｈｃｏｎｓｔｒａｉｎｔｓ．Ｈｏｗｅｖｅｒ，ｉｎｔｈｅｃａｓｅｏｆｎａｖｉｇａｔｉｏｎｉｎｕｎｓｔｒｕｃｔｕｒｅｄａｎｄｄｙｎａｍｉｃｓｏｃｉａｌｅｎｖｉｒｏｎｍｅｎｔ，ｔｈｅｓｐｅｅｄｏｕｔｐｕｔｉｓｕｎｓｔａｂｌｅｄｕｒｉｎｇｓｔｒｏｎｇｔｕｒｎｓ，ｗｈｉｃｈｉｓｖｅｒｙｕｎｆａｖｏｒａｂｌｅｔｏｔｈｅｍｏｂｉｌｅｒｏｂｏｔｉｎｔｈｅｗｈｏｌｅｆｏｒｗａｒｄｐｒｏｃｅｓｓ．Ｔｏｓｏｌｖｅｔｈｉｓｐｒｏｂｌｅｍ，ｔｈｅｔｒａｊｅｃｔｏｒｙｃｕｒｖａｔｕｒｅｉｓｉｎｔｒｏｄｕｃｅｄａｓａｎｅｗｃｏｎｓｔｒａｉｎｔｉｎｔｏｔｈｅＴＥＢａｌｇｏｒｉｔｈｍ，ａｎｄｔｈｅＣｕｒｖｅＳｐｅｅｄＣｏｎｔｒｏｌＴｉｍｅＥｌａｓｔｉｃＢａｎｄ（ＣＳＣ ＴＥＢ）ａｌｇｏｒｉｔｈｍｉｓｐｒｏｐｏｓｅｄ．ＩｎｔｈｅＣＳＣ ＴＥＢａｌｇｏｒｉｔｈｍ，ｔｈｅｍａｘｉｍｕｍｉｎｓｔａｎｔａｎｅｏｕｓｓｐｅｅｄｏｆｔｈｅｍｏｂｉｌｅｒｏｂｏｔｃａｎｂｅａｄｊｕｓｔｅｄｔｏｓｏｍｅｅｘｔｅｎｔａｃｃｏｒｄｉｎｇｔｏｔｈｅｄｅｇｒｅｅｏｆｃｏｕｒｓｅｃｈａｎｇｅｏｆｔｈｅｍｏｂｉｌｅｒｏｂｏｔ ｓｔｒａｖｅｌｉｎｇｐａｔｈｄｕｒｉｎｇｔｈｅｒｅａｌｔｉｍｅｏｂｓｔａｃｌｅａｖｏｉｄａｎｃｅｐｒｏｃｅｓｓ．ＥｘｐｅｒｉｍｅｎｔａｌｒｅｓｕｌｔｓｓｈｏｗｔｈａｔＣＳＣ ＴＥＢａｌｇｏｒｉｔｈｍｃａｎｍａｋｅｔｈｅｍｏｂｉｌｅｒｏｂｏｔｈａｖｅａｍｏｒｅｓｔａｂｌｅｓｐｅｅｄｗｈｅｎａｖｏｉｄｉｎｇｏｂｓｔａｃｌｅｓ，ａｎｄｏｕｔｐｕｔａｓｍｏｏｔｈｅｒｔｒａｊｅｃｔｏｒｙｃｕｒｖｅ，ａｖｏｉｄｉｎｇｔｈｅｓｐｅｅｄｊｉｔｔｅｒｐｈｅｎｏｍｅｎｏｎｉｎｔｈｅｏｒｉｇｉｎａｌＴＥＢａｌｇｏｒｉｔｈｍ．Ｉｎｓｔａｔｉｃａｎｄｄｙｎａｍｉｃｏｂｓｔａｃｌｅｓｃｅｎａｒｉｏｓ，ｔｈｅｍｏｂｉｌｅｒｏｂｏｔｈａｓａｍｏｒｅｓｔａｂｌｅｓｐｅｅｄｃｕｒｖｅｗｈｅｎｐａｓｓｉｎｇｔｈｒｏｕｇｈｏｂｓｔａｃｌｅｓ，ａｎｄｔｈｅｔｏｔａｌｐａｔｈｔｉｍｅｉｓｒｅｄｕｃｅｄｂｙ１５．０２％ｏｎｔｈｅｐｒｅｍｉｓｅｏｆｅｎｓｕｒｉｎｇｔｈｅｒｏｂｏｔ＇ｓｓａｆｅｔｙ，ｔｈｕｓｉｍｐｒｏｖｉｎｇｔｈｅｐａｔｈｐｌａｎｎｉｎｇｅｆｆｉｃｉｅｎｃｙｏｎｔｈｅｗｈｏｌｅ．Ｋｅｙｗｏｒｄｓ：ＴＥＢａｌｇｏｒｉｔｈｍ；ｍｏｂｉｌｅｒｏｂｏｔ；ｐａｔｈｐｌａｎｎｉｎｇ；ｔｒａｊｅｃｔｏｒｙｃｕｒｖａｔｕｒｅ；ｏｂｓｔａｃｌｅａｖｏｉｄａｎｃｅ收稿日期：２０２３－０４－１７基金项目：河北省高等学校科学技术重点研究项目（ＺＤ２０２０３１８）；河北省教育厅青年基金（ＱＮ２０２３１８５）ＦｏｕｎｄａｔｉｏｎＩｔｅｍ：ＳｃｉｅｎｃｅａｎｄＴｅｃｈｎｏｌｏｇｙＲｅｓｅａｒｃｈＰｒｏｊｅｃｔｏｆＣｏｌｌｅｇｅｓａｎｄＵｎｉｖｅｒｓｉｔｉｅｓｏｆＨｅｂｅｉＰｒｏｖｉｎｃｅ（ＺＤ２０２０３１８）；ＹｏｕｔｈＦｕｎｄｏｆＨｅｂｅｉＥｄｕｃａｔｉｏｎＤｅｐａｒｔｍｅｎｔ（ＱＮ２０２３１８５）０ 引言近年来，服务型移动机器人在自动化、计算机和人工智能等领域已经成为研究热点［１］，在各类服务行业中的需求也比较迫切。