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這份致謝發(fā)表在ThesisBook.fm(Acknowledgements.fm) (mit.edu)，網(wǎng)址為

https://www.mit.edu/~alvarso/thesis-phd/Acknowledgements.pdf

這里給出中英對照。其中，中文從百度翻譯直接獲得，未經(jīng)檢查和校對。

This thesis represents not only my work atthe keyboard, it is a milestone in more than one decade of work at MIT and specificallywithin the Space Systems Laboratory. My experi[1]ence at MIT has beennothing short of amazing. Since my first day during RO on August 16th, 1994 I have felt at home at MIT. Ihave been given unique opportunities… and taken advantage of them. This includes working atthe SSL for over ten years, starting as an undergraduate research assistant in the Spring of 1996. Throughout these years I have learned that there are those who buildtools and those who use them; my passion is in cre[1]ating the tools used incutting edge research. This thesis presents the lessons learned in creating one of those special tools:SPHERES. SPHERES is the result of work by dozens of people, who I wish to thank. But thisthesis is also the result of many experiences I have encountered at MIT from dozens of remarkable individuals who I also wish to acknowledge.?

這篇論文不僅代表了我在鍵盤方面的工作，而且是麻省理工學(xué)院十多年工作的里程碑，尤其是在空間系統(tǒng)實(shí)驗(yàn)室。我在麻省理工學(xué)院的經(jīng)歷并不令人驚訝。自從1994年8月16日我在RO的第一天起，我在麻省理工學(xué)院就有了賓至如歸的感覺。我得到了獨(dú)一無二的機(jī)會。。。并利用了他們。這包括在SSL工作超過十年，從1996年春開始擔(dān)任本科生研究助理。這些年來，我了解到有人在構(gòu)建工具，也有人在使用工具；我的愛好是創(chuàng)建用于邊緣研究的工具。這篇論文介紹了在創(chuàng)建其中一種特殊工具：球體時所吸取的經(jīng)驗(yàn)教訓(xùn)。SPHERES是幾十個人工作的結(jié)果，我要感謝他們。但這篇論文也是我在麻省理工學(xué)院遇到的幾十位知名人士的許多經(jīng)驗(yàn)的結(jié)果，我也希望向他們表示感謝。

First and foremost I wish to thank my advisor, professor Dave Miller, director of the MIT Space Systems Laboratory. He has been supportive since the days I began working on the Origins testbed as an undergraduate; I remember he used to say something like “you’re always the first one in and the last one out working on that project!” to encourage me to stay in the lab. Ever since, Dave has supported me not only by providing a research assistantship over almost seven years, but also academically and emotionally through the rough road to finish this thesis. Thanks to him I had the opportunity to build SPHERES… and test it in the KC-135! He helped me come up with the thesis topic and guided me over almost a year of development. And during the most difficult times when writing this thesis, he gave me the moral support and the freedom I needed to move on.

首先，我要感謝我的導(dǎo)師、麻省理工學(xué)院空間系統(tǒng)實(shí)驗(yàn)室主任戴夫·米勒教授。從我本科開始在Orights測試臺工作的那幾天起，他就一直支持我；我記得他曾經(jīng)說過這樣的話：“你總是第一個進(jìn)來，最后一個出去做那個項(xiàng)目！”鼓勵我留在實(shí)驗(yàn)室。從那以后，戴夫不僅在將近七年的時間里為我提供了研究助理的職位，而且在完成這篇論文的艱難道路上，在學(xué)術(shù)和情感上都給予了我支持。多虧了他，我才有機(jī)會建造球體。。。在KC-135上進(jìn)行測試！他幫助我提出了論文主題，并指導(dǎo)了我將近一年的發(fā)展。在寫這篇論文最困難的時候，他給了我精神上的支持和繼續(xù)前進(jìn)所需的自由。

My thesis committee guided me through all these years. Thank you to Jonathan How, Eric Feron, Brian Williams, and Javier deLuis for being my major advisors. Jon and Brian supported SPHERES with several students; Eric guided me through my undergraduate capstone class; and Javier has supported SPHERES and my research since 1999. Also thank you to Jeff Hoffman for being part of my Generals committee, a thesis reader, and an inspiration in many ways. And thank you to Dava Newman, with whom I worked with as associate advisor for two years during my undergraduate career and whom became one of my thesis readers.

這些年來，我的論文委員會一直在指導(dǎo)我。感謝Jonathan How、Eric Feron、Brian Williams和Javier deLuis擔(dān)任我的主要顧問。喬恩和布萊恩與幾個學(xué)生一起支持SPHERES；埃里克指導(dǎo)我完成了本科的“頂點(diǎn)”課程；自1999年以來，哈維爾一直支持SPHERES和我的研究。還要感謝杰夫·霍夫曼，他是我的將軍委員會的一員，也是一名論文讀者，在很多方面都給了我靈感。感謝達(dá)瓦·紐曼，在我的本科生涯中，我曾與他共事兩年，擔(dān)任副顧問，并成為我論文的讀者之一。

Dozens of people have helped and taught me immensely at the MIT SSL. Mom Sharon welcomed me to the lab my sophomore year in 1996. She has been a source of love and energy ever since. Dave’s assistants, Peggy and Marilyn have been amazing help all this time. And then, there’s the students before me, mentors in many ways. My UROP supervisors Graeme Shaw in 1996 and Greg Mallory in 1997-98, with whom my ‘permanent’ stay at the SSL began. Cyrus Jilla who has been an inspiration on how to make things ‘perfect’. A special acknowledgement goes to my office mate of many years: Laila Elias.?She was a true friend ever since we began to share an office in 1999. Laila is an amazing person in too many ways. And I also thank Bekcy and Scott (also Aero/Astro class of ’98!), my other great office mates who have been supportive in every way. Also thank you to Rick and Luke for three years of trips to the mountains.

在麻省理工學(xué)院，幾十個人給了我極大的幫助和教育。1996年大二時，莎倫媽媽歡迎我來到實(shí)驗(yàn)室。從那以后，她一直是愛和能量的源泉。戴夫的助手佩吉和瑪麗蓮一直以來都幫了大忙。還有，在我之前的學(xué)生，在很多方面都是導(dǎo)師。1996年，我的UROP主管格雷姆·肖（Graeme Shaw）和1997-98年的格雷格·馬洛里（Greg Mallory）開始了我在SSL的“永久”停留。賽勒斯·吉拉是如何讓事情變得“完美”的靈感來源。我要特別感謝我多年的同事萊拉·埃利亞斯。自從1999年我們開始共用辦公室以來，她一直是我們真正的朋友。萊拉在很多方面都是個了不起的人。我還要感謝Becky和Scott（也是98年的Aero/Astro課程！），我的其他同事在各個方面都很支持我。還要感謝里克和盧克三年來的登山之旅。

A special group from the SSL is not mentioned yet, because they deserve their own part: the SPHERES team. I praise the enormous amount of help and teaching by Paul Bauer throughout these years. Thank you to those who helped the project as staff and graduate students: Ray Sedwick, Edmund Kong, Mark Hilstad (and for teaching me to ski!), John Enright (and Sarah), Alice Liu, Simon Nolet, Dustin Berkovitz, Arthur Richards, Al Chen, Soon-Jo Chung, and Ryan Lim. Also thank you to everyone at Payload Systems who has helped with the project and supported me in many ways: Javier de Luis, Steve Sell, Stephanie Chen, Bob Grimes, Edison Guerra, John Merk, Chris Rockhold and the marvelous Joanne Vining. I also recognize the support and help from the Air Force STP and DARPA offices for their support of the SPHERES program. And, for providing the experience of a lifetime, thank you to John Yaniec and the NASA JSC RGO for their support of five SPHERES reduced gravity campaigns. Lastly, I wish to acknowledge the thirteen students who taught me how to teach a lab class and who built the prototype SPHERES: George Berkowski, Chad Brodel, Sarah Carlson, Dave Carpenter, Stephanie Chen, Allen Chen, Shannon Cheng, Daniel Feller, Stuart Jackson, Fernando Perez, Bradley Pitts, Jason Szuminski, and Julie Wertz.

SSL中的一個特殊群體尚未被提及，因?yàn)樗麄儜?yīng)該得到自己的一部分：SPHERES團(tuán)隊。我贊揚(yáng)保羅·鮑爾這些年來提供的大量幫助和教學(xué)。感謝作為工作人員和研究生幫助該項(xiàng)目的人：雷·塞德威克（Ray Sedwick）、埃德蒙·孔（Edmund Kong）、馬克·希爾斯塔德（Mark Hilstad）（以及教我滑雪！），約翰·恩萊特（和莎拉）、愛麗絲·劉（Alice Liu）、西蒙·諾萊（Simon Nolet）、達(dá)斯汀·伯克維茨（Dustin Berkovitz）、阿瑟·理查茲（Arthur Richards）、艾爾·陳（Al Chen）、宋楚瑜（Soon Jo Chung）和瑞安·林（Ryan Lim。還要感謝Payload Systems的每一位在項(xiàng)目中提供幫助并在許多方面支持我的人：賈維爾·德·路易斯、史蒂夫·塞爾、斯蒂芬妮·陳、鮑勃·格里姆斯、愛迪生·格拉、約翰·默克、克里斯·羅克霍爾德和了不起的喬安妮·維寧。我還感謝空軍STP和DARPA辦公室對SPHERES項(xiàng)目的支持和幫助。感謝John Yanice和NASA JSC RGO為五個球體的減重力運(yùn)動提供的支持，感謝他們提供了一生的體驗(yàn)。最后，我想感謝13位教我如何教授實(shí)驗(yàn)課并制作球體原型的學(xué)生：喬治·伯克夫斯基、查德·布羅德爾、莎拉·卡爾森、戴夫·卡彭特、斯蒂芬妮·陳、艾倫·陳、香農(nóng)·鄭、丹尼爾·費(fèi)勒、斯圖爾特·杰克遜、費(fèi)爾南多·佩雷斯、布拉德利·皮特、杰森·蘇米斯基和朱莉·沃茨。

I also thank an organization: the Tech Model Railroad Club. Thanks to the hands-on work in building things at the club I got my second UROP at the SSL! I want to especially thank Jeff Birkner for teaching me about electrical things; about the professionalism needed when creating new things; and most importantly for becoming a lifelong friend.

我還要感謝一個組織：技術(shù)模型鐵路俱樂部。多虧了俱樂部在建筑方面的實(shí)際工作，我在SSL獲得了第二次尿檢！我要特別感謝杰夫·伯克納教我有關(guān)電氣方面的知識；關(guān)于創(chuàng)造新事物時所需的專業(yè)精神；最重要的是成為終身朋友。

I took part of many other activities, with countless people teaching and helping me every step. Thank you to everyone from 4E, especially Atif, Rex, Chris, and Ann. Your friendship was irreplaceable. Thank you to everyone at LSC for many years of movies and popcorn. Thank you to the Sailing Pavilion coaches and staff who made every summer in grad school remarkable. Thank you to everyone at the ASA and the DSL/SAO, especially Tracy Purinton and Laurie Ward. Also thank you to everyone at the GSC, of whom Emmi Snyder stands out notoriously as an amazing source of support. I also thank the members of the Career Fair and the GSC GradRat Committee who gave me years of fun while trying to write the thesis! And, behind all of these activities, are two people whom worked with me and many others throughout the way and I wish to thank for their support and inspiration: Dean Larry Benedict and Dean Ike Colbert.

我參加了許多其他活動，無數(shù)人教我，幫助我每一步。感謝來自4E的所有人，尤其是阿提夫、雷克斯、克里斯和安。你的友誼是不可替代的。感謝LSC的所有人多年來的電影和爆米花。感謝帆船館的教練和工作人員，他們讓研究生院的每個夏天都非常出色。感謝ASA和DSL/SAO的所有人，特別是特蕾西·普林頓和勞里·沃德。還要感謝GSC的每一位成員，艾米·斯奈德（Emmi Snyder）以其驚人的支持來源而聞名。我還要感謝職業(yè)介紹會和GSC畢業(yè)生委員會的成員們，他們在我寫論文的過程中給了我多年的樂趣！在所有這些活動的背后，有兩個人一直與我和其他許多人一起工作，我要感謝他們的支持和啟發(fā)：院長拉里·本尼迪克特和院長艾克·科爾伯特。

I was also involved in activities outside MIT, where I met amazing people while showcasing Mexican Culture in the Boston Area. Thanks to everyone at the Mexican Consulate who has supported the community through good and bad times. And thank you to the many people from FOMNI and other organizations who have worked with me over the years in dozens of cultural events.

我還參與了麻省理工學(xué)院以外的活動，在波士頓地區(qū)展示墨西哥文化的同時，我遇到了很多了不起的人。感謝墨西哥領(lǐng)事館的每一位在好的和壞的時候支持社區(qū)的人。感謝來自FOMNI和其他組織的許多人，這些年來，他們與我一起參與了數(shù)十項(xiàng)文化活動。

An talking about Mexico: I have special friends to thank, going back to my pre-MIT days. Thank you to the cuatro diablitos: Javier Garcia-Terruel, Roberto Monta?ez, David Thomas… and, I have to especially thank Ashley Viberg, whom I consider my best friend since high school. He taught me to sail… and between him and his parents they taught me better english! His unconditional support has been essential all these years. I thank his parents, Gordon and Dale, for it was them who suggested I should come to MIT while on a trip to Valle in 1993; I am not sure I would be at MIT without their encouragement. I also thank a special teacher in high-school, Mrs. Jenka Guevara. Thanks to her I could enjoy learning at the ASF, even after school! And thanks to Ceani for her continued friendship through high school and even at MIT. Lastly, I wish to acknowledge a friendship that began at the ASF and became ripe throughout my years at MIT: thank you to Kevin Tangney and his family. Since the first year I arrived at MIT (for eleven years now!) the Tangney’s have welcomed me at their home for Thanksgiving, a tradition that I hope will continue for decades to come! Plus, I can’t forget about the many sailing trips.

談?wù)撃鞲纾何矣刑貏e的朋友要感謝，這要追溯到我在麻省理工學(xué)院之前的日子。感謝cuatro diablitos：賈維爾·加西亞·特魯爾、羅伯托·蒙塔涅斯、大衛(wèi)·托馬斯。。。而且，我要特別感謝Ashley Viberg，我從高中起就是我最好的朋友。他教我航海。。。在他和他的父母之間，他們教了我更好的英語！這些年來，他的無條件支持至關(guān)重要。我感謝他的父母戈登和戴爾，因?yàn)槭撬麄兘ㄗh我1993年去瓦勒旅行時去麻省理工學(xué)院；如果沒有他們的鼓勵，我不確定我會在麻省理工學(xué)院。我還要感謝高中的一位特殊老師詹卡·格瓦拉夫人。多虧了她，我可以享受在ASF學(xué)習(xí)的樂趣，即使是放學(xué)后！感謝齊亞尼在高中甚至麻省理工學(xué)院期間一直保持著友誼。最后，我想感謝一種友誼，這種友誼始于ASF，在我在麻省理工學(xué)院的歲月中逐漸成熟：感謝凱文·唐尼和他的家人。自從我來到麻省理工學(xué)院的第一年（現(xiàn)在已經(jīng)十一年了！）唐尼家在他們家里歡迎我過感恩節(jié)，我希望這一傳統(tǒng)將在未來幾十年繼續(xù)下去！另外，我不能忘記許多航海旅行。

I finish with Mexico, where the most basic source of my life energy resides: my family. I have an amazing family, unique in many ways, and the stereotype of a perfect family in many others. Their support has been unconditional all these years; they have given up many things for me to be at MIT; they have cherished with me every great moment and supported me whenever I needed it. And I need to thank them in spanish now..

最后，我去了墨西哥，那里是我生命中最基本的能量來源：我的家人。我有一個了不起的家庭，在很多方面都是獨(dú)一無二的，在很多其他方面都有一個完美家庭的刻板印象。這些年來，他們的支持一直是無條件的；他們?yōu)榱宋以诼槭±砉W(xué)院放棄了很多東西；他們珍惜我每一個偉大的時刻，在我需要的時候支持我。現(xiàn)在我要用西班牙語感謝他們。。

?GRACIAS a toda la familia! A la Abuelita lunática por prestarme su cerebro, a Lucerito por su amor inmenso, y a mi tía y madrina Fer que me apoya y ama inmensamente. ?Su amor no cabe en ningún lado! Gracias a Rocio y Pati?o por querer tanto a mis papas y a mi. Gracias a Tío Luis por ser mi tío de MIT, a tía Margarita por siempre apoyar a mis papas, y a todos mis primos por siempre recibirme en México con mucha alegría. Gracias a Mane por apoyar a mi familia tantos a?os; a Sofi y Alex por su amor hacia nosotros desde siempre; y a Gabi y familia por siempre estar con nosotros.

謝大家！瘋狂的老奶奶把她的大腦借給了我，盧塞里托給了她無盡的愛，還有我的姑姑和教母費(fèi)爾，她支持我，非常愛我。你的愛無處可去！感謝羅喬和帕蒂諾愛我和我的爸爸。感謝路易斯叔叔成為我在麻省理工學(xué)院的叔叔，瑪格麗塔阿姨永遠(yuǎn)支持我的父母，感謝我所有的堂兄弟姐妹永遠(yuǎn)帶著極大的喜悅歡迎我來到墨西哥。感謝索菲和亞歷克斯對我們的愛；還有加比和家人永遠(yuǎn)和我們在一起。

Y en muy especial, gracias a mi papá, mi mamá, y mi hermano. Esta tesis es de la familia Saenz Otero. Es una combinación de todos los conocimientos que me dio papá, desde los Legos, los viajes a la NASA, las computadoras, la carpintería, los trenes, y más. Todo esto unido con el amor y la personalidad maravillosa que tiene mi mamá. Y gracias a Edgar, que aguanto tantos a?os solito con mis papas para que yo pudiera seguir en MIT siempre tranquilo.

特別感謝我的爸爸，媽媽和弟弟。這篇論文來自薩恩斯·奧特羅家族。這是爸爸給我的所有知識的結(jié)合，從樂高積木到美國宇航局的旅行，電腦，木工，火車等等，所有這些都與我媽媽的愛和奇妙的個性聯(lián)系在一起。多虧了埃德加，我和我的爸爸們一個人呆了這么多年，這樣我就可以在麻省理工學(xué)院一直保持安靜。

GRACIAS FERNANDO SAENZ, ARACELI OTERO, Y EDGAR SAENZ OTERO.

謝謝費(fèi)爾南多·薩恩斯、阿拉塞利·奧特羅和埃德加·薩恩斯·奧特羅。