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    ["B03","反力、箱底与固定","P0","首版","本轮补算","四个小支脚是否把重量集中到薄板？","100kg旧模型、4×150mm方脚，悬空平均约10.9kPa；极限比较单脚约384N。","比较可拆分载板或支承骨架桥接，核自身质量、板刚度和真实接触面积。","L32,C34"],
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    ["B05","反力、箱底与固定","P0","首版","需实测","脚垫在湿冷金属面上是否仍能防滑？","当前μ是假设，结霜、凝露、冰粒与脚垫硬化会改变它。","用真实脚垫／箱底表面做静态和小幅往复拉力试验，记录温度及表面状态。","L33,C34"],
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    ["B07","反力、箱底与固定","P1","首版","模型假设待验证","四脚真的同时承重吗？","薄板挠曲、地面不平或冰粒垫脚会改变接触集合，四脚等刚度模型不再适用。","空载调平后确认接触，按不均刚度／三脚接触复核支承多边形与反力。","L32,C34"],
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    ["B10","反力、箱底与固定","P1","首版","已有接口原则","止挡、线缆或临时托架是否分走测量力？","连接在主传感器下游轮架上会产生测量旁路。","止挡接机架底座；检查正常测试时所有托架、锁销、护罩和线缆的传力路径。","L27,L33"],
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    ["C02","轮组、转子与传动","P0","首版","未冻结","轮辋能否装上20mm驱动轴并传递转矩？","公开匹配轮辋示例为10mm自由轴，不能直接替换现有20mm转轴。","比较驱动转接件与成品驱动轮辋路线，取得实物接口后定孔、键与法兰。","L33"],
    ["C03","轮组、转子与传动","P0","首版","需要更新","200mm气胎会不会撞梁、护罩、气门嘴？","旧Ø125轮架未更新，Ø200×50外包络已与共同支承梁重叠。","建立真实充气轮组CAD，检查极限升降／换点／受载变形和气门嘴扫掠。","L33,L31"],
    ["C04","轮组、转子与传动","P1","目标高速","资料不全","50psi标注能否证明−30℃和60km/h能力？","压力、温度、转速与循环次数是不同条件；公开K909表没有完整本机组合依据。","筛轮胎／轮辋组合范围，先常温静止与低速，再低温和速度阶梯验证。","S7,L33"],
    ["C05","轮组、转子与传动","P1","首版","需要验证","分体轮辋、内胎与气嘴会否松动或泄漏？","拆装紧固、胎圈就位、内胎夹伤和气嘴摆动影响转动保持与测量。","按配套规定装配，静止保压、低速检查和转子平衡；泄压后才拆分轮辋。","L33"],
    ["C06","轮组、转子与传动","P1","首版","未知惯量待辨识","加速所需转矩和机架反转矩是多少？","电机／轮／轮毂／带轮惯量共同作用；驱动折算惯量与整机角动量系数不同。","测或由准确CAD求完整惯量，分别核能量、驱动峰值和机架反力矩。","C34,S2"],
    ["C07","轮组、转子与传动","P1","首版","需要验证","轮胎跳动、气嘴偏重会不会淹没摩擦信号？","1g在100mm半径、60km/h的示例径向激励约2.8N，轮频约26.5Hz。","检查同轴度／端跳／径跳和整轮动平衡，做悬空轮速阶梯基线。","C34"],
    ["C08","轮组、转子与传动","P1","首版","只有静态比较","轴承、轴和机架的固有频率是否接近轮频？","静态有限元与轴承额定载荷不能证明高速响应；基座柔度改变振动。","低能量敲击或坡升速识别主要振动频率，必要时补模态／转子分析。","L31,C34"],
    ["C09","轮组、转子与传动","P0","首版","候选需重算","原1:1传动是否还能驱动200mm轮？","Fx100N时轮转矩10Nm；额定9.8Nm参考无法留出传动损耗。","优先筛1.5:1，并重算齿形、带长、包角、张紧、护罩和冷态能力。","L33"],
    ["C10","轮组、转子与传动","P1","首版","未冻结","皮带预张紧和低温拖曳是否使轴承超载？","皮带两边张力与转矩共同加载轴承；过松跳齿，过紧损耗／变形增大。","按实际匹配皮带资料设张紧并实测，复算冷态轴承反力和残余游隙。","L31,S5,S6"],
    ["C11","轮组、转子与传动","P1","首版","需核实","电机、驱动、反馈编码器和输入电源是同一配套吗？","电机标220VAC不自动说明驱动输入相数与功率；峰值持续能力未知。","冻结准确电机／驱动／反馈／电缆套件并核功率、峰值、STO与再生接口。","L26,S2"],
    ["C12","轮组、转子与传动","P1","首版","待详细设计","轮、键、轴端锁止和防护罩能否保持旋转组件？","现轴键与保持件是旧轮参考；护罩几何厚度不等于碎片保持能力。","核真实轮毂接合、松脱路径及旋转能量，完善固定件和适合实际危险的护罩。","L31,C34"],
    ["C13","轮组、转子与传动","P1","首版","寿命要求未知","重复测试会否造成连接松动与轴／焊缝疲劳？","短时单次静力比较没有给出预期循环数和载荷谱，也不涵盖长期磨损。","明确预期循环数，核关键缺口／焊缝与紧固保持，规定检查和易损件更换条件。","L31,USER"],

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    ["D02","加载与垂向运动","P1","首版","需标定","Fz原始读数能否直接当作轮载？","主传感器下游自重约285N；去皮、方向和运动惯性影响N反算。","做装配后的重力／坐标映射及悬空基线，控制使用校正后的N。","L11,L27"],
    ["D03","加载与垂向运动","P1","首版","未闭合","接触检测时延会产生多大过冲？","示例k200N/mm、1mm/s、50ms时延就增长10N，尚未计惯性与停车位移。","测接触刚度和整链时延，规定接触接近速度、制动距离和峰值界限。","L12,C34"],
    ["D04","加载与垂向运动","P1","首版","已有闭环要求","硬冰与软雪能否使用同一力控制参数？","软硬变化导致不同响应；硬冰可能振荡，松雪可能快速下陷。","比较受限增益／接近模式，设置行程、下陷速度和积分饱和处理并验收。","L27,C34"],
    ["D05","加载与垂向运动","P1","首版","需核实","丝杆导向、低温脂或线缆卡滞会怎样？","摩擦滞后与突然释放可产生载荷跃升；电机位置不等于轮架真实位置。","做冷态全行程低能量检查，直接Z测量、卡滞与跟随误差监测。","L12,S5"],
    ["D06","加载与垂向运动","P0","首版","需要更新","5／8cm试样是否在可用加载／离面行程内？","Ø200轮旧轴高参照下对应Z约−12.5／+17.5mm，未计压缩或沉陷。","把真实试样支承、压陷和完全离面间隙纳入Z行程与硬限位。","L33"],
    ["D07","加载与垂向运动","P1","首版","参数待定","加载轴失电或制动延迟会不会下落？","43.7kg移动部分落10mm释放约4.3J；100N目标不限制故障接触峰值。","核制动承托交接、独立机械保持与落移，先在受控低能量台架验收。","L12,L27,C34"],
    ["D08","加载与垂向运动","P1","首版","需核实","保持制动器能否承担动态制动？","保持容量、动作延迟、落移和动态吸能是不同指标，−30℃准确型号未定。","按实际故障能量和温度选型，不以静态保持额定代替动态接管能力。","L26,L12"],
    ["D09","加载与垂向运动","P1","首版","已有正常／故障分工","出问题时是否总能先抬轮？","正常健康退出可卸载抬轮；驱动或电源故障时未必有抬轮能力。","保留分状态故障处置，不能把失电动作写成必然自动抬轮。","L27,S3"],
    ["D10","加载与垂向运动","P1","首版","需新增检查","试样破裂或轮胎卡在沟里时控制器会不会继续追载？","力突然变小可能诱发继续下降，而Z行程和轮速也在改变。","联合监视下陷、跟随误差和接触状态；超出有效范围退出并标记数据。","L27"],
    ["D11","加载与垂向运动","P1","首版","真实极限力未知","执行器失控满推会不会顶起整机或压坏测力链？","执行器额定推力不是50—100N实验目标；当前真实故障推力与保护阈值均未定。","联合核执行器上限、机械／独立限力、脚底反力和传感器组合容量；先受控台架测试。","L12,L31"],
    ["D12","加载与垂向运动","P0","构型比较","未采用","是否需要柔顺或浮动加载降低硬接触过冲？","直接丝杆接触的敏感性取决于系统刚度／时延；弹簧可缓冲，但不是天然恒力／限力器。","先测刚度与时延，再比较被动柔顺与刚性闭环；核行程、储能与测量路径。","C34,L27"],

    ["E01","传感器、采集与标定","P0","首版","准确型号未定","候选六轴是否能覆盖力和力矩组合？","旧W组Fx100时My约40.79Nm，150N扩展约56.29Nm；新轮和动态还会变。","按全部正常／异常组合包络选型，更新传感器原点与安装面。","L31,L26,S1"],
    ["E02","传感器、采集与标定","P0","首版","资料已有缺口","能低温运行是否等于低温准确？","M3725A工作−40…100℃，补偿10…70℃；−30℃误差需确认。","整链冷态零点、灵敏度、串扰、迟滞和热平衡标定，或筛合适补偿版。","S1,L26"],
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    ["E04","传感器、采集与标定","P1","首版","接口规则已记录","传感器与采集前端是否兼容？","M3725A为集成DAS、6.5V、CAN／串口；不能直接按普通5V桥式传感器配前端。","作为传感器＋采集＋矩阵＋协议整套采购，核电源、帧率和数据定义。","L26,S1"],
    ["E05","传感器、采集与标定","P1","首版","安装接口未闭合","安装螺栓、贴面和平面度会不会改变输出？","当前主六轴安装面在结构比较中仍有理想化；预紧／接触影响串扰。","加入准确上下孔图和原厂安装规范，完成装配后多方向／偏心标定。","L31,S1"],
    ["E06","传感器、采集与标定","P2","首版","需整机补偿","悬空去皮能否覆盖所有位置、速度和温度？","Y/Z移动、导线拉力、轮速和温度改变基线；单次静态清零不能覆盖。","采集位置／速度／温度基线图，保留测前测后零点与补偿版本。","L11,L27"],
    ["E07","传感器、采集与标定","P2","首版","需整机检查","驱动件与线缆是否让力测量产生旁路？","电机若搬到传感器上游，皮带力跨过测量边界；线缆也可传力。","每次改布局重新画测量自由体图，做已知力闭环检验。","L11,L31"],
    ["E08","传感器、采集与标定","P2","首版","目标不是实测","1000Hz是否是实际新六轴帧率？","读缓存1000次或通道不同步不能得到1000组同步样本；协议未验收。","实测序号、采样时刻、丢帧、通道偏斜、带宽和端到端延迟。","L11,S4"],
    ["E09","传感器、采集与标定","P2","首版","需确认","滤波会不会隐藏过冲或制造假规律？","轮频约26.5Hz；抗混叠、软件平滑和控制滤波用途不同。","按物理带宽选采样与抗混叠，保存原始数据，报告滤波幅相和延迟。","L11,S4,C34"],
    ["E10","传感器、采集与标定","P2","首版","需实现","轮速来源是轮端还是电机端？","皮带滑齿／弹性和转接松脱时，电机速度不代表轮胎速度。","以实际轮端速度确认工况；至少用独立测转手段核对传动关系。","L11,L33"],
    ["E11","传感器、采集与标定","P2","首版","需定义","N接近零时是否继续算摩擦系数？","分母小导致比值爆大，加载／离面阶段可能出现无意义峰值。","依据接触与噪声判据屏蔽无效比值，保留原始Fx/N信号与状态。","L11"],
    ["E12","传感器、采集与标定","P2","首版","需验收","多轴矩阵、坐标、单位和时间是否可追溯？","错用矩阵、符号或N／kg、rpm／rad/s可使曲线看似正常。","版本化标定矩阵、轴向／原点迁移、单位及共同时钟；已知载荷逐项核验。","L11,S1"],

    ["F01","控制、电气与数据","P1","首版","功能图已有","PC是否承担唯一的实时控制和保护？","电脑卡顿、USB掉线或系统更新不能让设备失去本地退出能力。","本地闭环与记录，PC设定／显示；独立保护回路按真实危险设计。","L27,L12"],
    ["F02","控制、电气与数据","P1","首版","状态机已有待实现","门罩、锁紧、装拆销与工装是否都能阻止误启动？","CAD姿态不等于运行互锁；销或托架未撤会改变测量和卡死机构。","核真实状态输入及启动条件，做销／罩／锁紧遗漏的低能量验证。","L27"],
    ["F03","控制、电气与数据","P1","首版","型号／性能待验收","急停后轮子会不会继续旋转？","STO撤转矩不等于立即静止；悬空轮端有储能，普通编码器也非自动安全零速。","验证真实停转时间和接近许可；保持防护闭合直到可核验静止。","L27,S3,C34"],
    ["F04","控制、电气与数据","P1","首版","逻辑已有","PC断线、本地失控和失电是否混成一种停机？","健康本地系统可受控退出；失电只能依靠已设计的保持／停转路径。","分别实现与验证三类事件，不在所有故障分支都调用同一个抬轮命令。","L27,L12"],
    ["F05","控制、电气与数据","P1","首版","需电控设计","快速减速的再生能量去哪里？","直流母线过压或制动电阻过热可能中断减速；动能随速度平方增加。","核匹配驱动再生／耗能路径和重复周期，记录母线及制动器温升。","L26,C34"],
    ["F06","控制、电气与数据","P1","首版","需核实","传感器断线、卡值、饱和是否能被发现？","一个看似合理的旧数值不一定触发上下限，主保护可能共因失效。","检查帧序／年龄／饱和／合理性和独立监测路径，验证故障锁存。","L12,L27"],
    ["F07","控制、电气与数据","P1","首版","已有原则","重连、复位、重复点击会不会自行重启？","命令重传和恢复通信不代表人工再次授权运动。","幂等命令、启动握手与状态门槛；断电／重连后保持停止等待人工启动。","L27,S3"],
    ["F08","控制、电气与数据","P1","首版","接口未知","关门后如何穿过电机电源与传感线路？","预留穿线孔尚不明确；压门缝可能损伤密封／线缆并改变保温。","核现有馈通、接口容量和箱外控制柜路线，不默认穿门缝或自行钻箱体。","USER,L27"],
    ["F09","控制、电气与数据","P1","首版","需电气施工","融水、接地和PWM干扰是否影响人员与测量？","金属潮湿箱体内的动力线与小信号并存，绝缘／接地／屏蔽均需设计。","由电气方案落实保护接地、故障保护和防水布线；做空载EMI及测量噪声对比。","L12,L27"],
    ["F10","控制、电气与数据","P2","首版","数据合同已有","采集文件是否完整且不覆盖上一试验？","保存成功提示不保证时长、单位、编号或连续性，云端连接也不能依赖。","本地缓冲、唯一runID、原始／处理数据分开；断网／磁盘满／异常退出验证。","L11,L27"],
    ["F11","控制、电气与数据","P1","首版","软件待实现","超速、反向、错误载荷单位或错误轮径如何限制？","换轮后沿用旧R／传动比，会把目标转速和力矩换算错。","配置随轮组版本绑定，限制可运行组合，保存原始设定与实际值。","L33,L27"],
    ["F12","控制、电气与数据","P2","首版","需补数据判据","显示稳定是否等于有足够有效测量窗口？","接触瞬态、热漂与最后卸载可能占满5秒，平滑图掩盖缺帧。","窗口用实测轮载／轮速／数据质量定义；失败run标记并保留，不能自动补成有效。","L11,L27"],
    ["F13","控制、电气与数据","P1","首版","需检修流程","检修时是否误把撤转矩当作断电隔离？","STO用于撤转矩，电气供电和驱动储能需独立处理；轮端也可能仍在转。","检修同时确认实际停转、电源隔离／消能和机械承托，按准确驱动说明执行。","L27,S8"],

    ["G01","低温与环境适配","P1","首版","部分器件有资料","全链路是否覆盖−20／−30℃？","低温电机不代表编码器、轴承脂、制动、接头和线缆全都合格。","按确切供货配置建立温度表，优先箱外布置不适合冷态的电控与采集部分。","L26,L11,S5"],
    ["G02","低温与环境适配","P1","首版","需实测","箱内空气温度是否代表轮胎与试样温度？","大质量钢件、轮胎和厚雪热平衡时间不同；启机后又发热。","至少记录空气、试样表面／内部、轮胎及关键测量部件温度与稳定条件。","USER,L33"],
    ["G03","低温与环境适配","P1","首版","原理已有","热胀冷缩会不会让轴承、销和螺纹卡死？","钢铝组合、低温装配余隙和预紧改变；零间隙模型不等于真实冷态接合。","按温度与材料核配合／残余游隙，做冷热循环后拆装和同轴度检查。","L31,S5"],
    ["G04","低温与环境适配","P1","首版","需器件适配","低温脂与密封会不会改变摩擦损耗？","启动转矩及稳态拖曳可能提高，影响轴转矩校正和驱动余量。","用真实轴承／脂／密封冷态测空载转矩，不只核温度下限。","S5,L31"],
    ["G05","低温与环境适配","P1","首版","需实测","出入箱时凝露、结霜和融水会怎样？","结霜改变脚底摩擦与光学读数；凝露可能侵入电控，清理还改变试样。","规定预冷／回温、干燥、停机清理和电控保护流程，保留状态记录。","USER,L27"],
    ["G06","低温与环境适配","P2","首版","已补热量级","摩擦发热会不会压过环境温度控制？","Fx50N、60km/h、5秒机械功约4.2kJ，分配给轮胎与试样的比例未知。","缩短或比较时间窗、换新点，记录温度／表面变化并辨识热与磨耗贡献。","C34"],
    ["G07","低温与环境适配","P1","首版","需核实","电机持续发热与结冰是否改变局部温度？","箱体均匀度指标来自其试验条件，不代表装机后近轮接触区仍一样。","测空载运行后的温度分布和稳定时间，确定重复周期与散热布置。","USER,L26"],
    ["G08","低温与环境适配","P1","首版","已有温度记录要求","低温补气后回温会不会超出组件允许压力？","20℃50psi理想恒容到−30℃约0.269MPa；冷态补气需核回温压力。","定义胎压测量温度和回温压力释放安排，使用匹配组件允许范围。","L33"],
    ["G09","低温与环境适配","P1","首版","需工程细化","护罩、排水与表面腐蚀是否妨碍运动？","碎冰／水可进入导轨、皮带和传感器；钢铝贴面还可能腐蚀。","设计可清理排屑／排水、材料表面与密封，不能用罩壳压到测量侧形成旁路。","L31,L27"],
    ["G10","低温与环境适配","P1","首版","需现场运行规则","关门运行时人员如何离开、急停与观察？","步入式箱体内低温、高速轮与搬运重物同时存在。","运行前清人，核门内脱困／门联锁和箱外急停；观察用安全窗口或远程图像。","USER,L27"],
    ["G11","低温与环境适配","P1","首版","范围需区分","箱体可到−60℃是否会误认为设备也能到？","本研究目标−20／−30℃；部件候选没有覆盖箱体全部温度与循环功能。","设备工作范围按完整链确认，运行配置与箱体循环匹配，超界时禁止测试。","USER,L26"],

    ["H01","试样与场地边界","P0","首版","场景存在表述变化","三类表面是否有一致定义？","会议为纯冰／冰基覆雪／压实雪，早期曾用蓝冰处理层概念。","与实验线统一命名、层序和处理层定义，不把不同表面并入同一组。","USER,L33"],
    ["H02","试样与场地边界","P2","首版","需实测","试样会不会整体滑动、脱层或起翘？","装置稳住仍可能是冰层／雪层与金属底面滑移，测到另一界面。","标记并观察试样相对底板运动，核固定／冻结界面，记录裂纹与脱层。","USER,L33"],
    ["H03","试样与场地边界","P2","首版","需定义","表面粗糙、坡度和厚度偏差是否改变接触？","轮载相同不保证接触面积相同；薄层可能出现触底与基底影响。","测局部厚度、纹理、水平度、轮印及压陷，规定远离边缘的有效区域。","USER,L33"],
    ["H04","试样与场地边界","P2","首版","制样能力未知","机器造雪与压实是否得到研究需要的材料？","雪粒结合、冻结状态、含水量与密度可能随制样方式变。","实验线先做材料表征与可行性预试验；设备不把名义厚度当成全部材料状态。","USER"],
    ["H05","试样与场地边界","P2","首版","已有换点需求","附近新点是否真的未受前一试验影响？","热、裂纹、碎屑与沉陷范围可大于轮印，移动支脚也可压坏表面。","用测前后图像／温度确定点距；运输路径避开待测区，点位编号可追溯。","USER,L33"],
    ["H06","试样与场地边界","P1","首版","需姿态复核","抬轮、换点与护罩下缘是否刮到厚雪？","仅轮子离面不保证下部附件离面，升降极限和地面不平会改变间隙。","完整检查轮胎、气嘴、罩壳、线缆和托架的换点／搬动姿态。","L31,L33"],
    ["H07","试样与场地边界","P2","首版","需标定策略","接触区摩擦之外的铲雪、掘入和胎纹咬合如何报告？","处理层和表面粗糙可能增加机械阻力，不能全部归为同一摩擦机理。","结合直接Fx、力矩、压陷和图像，区分可报告抗力与尚未辨识的机理。","USER,L11"],
    ["H08","试样与场地边界","P2","首版","材料状态需记录","轮胎带雪、带水、沾纤维会不会污染后续组？","同一轮组跨表面使用导致历史效应；清洗又改变轮温和胎压。","统一清理／冷却／复核流程，记录轮胎批次、磨耗和每次接触历史。","USER,L33"],

    ["I01","搬运、拆装与外场","P0","外场运输","未按实机验证","便携指整机手提还是可分拆运输？","旧总装约100kg，测量轮组约29kg、Z+W约44kg；参考质量非实称。","定义单件重量、人员／工具、箱体尺寸和装配时间，实称后核提手与搬运姿态。","USER,L31,C34"],
    ["I02","搬运、拆装与外场","P1","首版","已有拆卸方案","拆下轮组时是否有可靠承托和重心交接？","测量模块、电机与罩壳偏心；拔销／拆梁可能失去承托。","按现有检修顺序加实际承托与接管验收，核夹手区和工具可达。","L31,L27"],
    ["I03","搬运、拆装与外场","P2","外场运输","需重复拆装验证","换场重装后同轴度和标定是否恢复？","定位销间隙、紧固沉降、传感器安装和带张紧会随重装变化。","做多次拆装后的尺寸、空载基线和已知载荷一致性测试。","L31,L11"],
    ["I04","搬运、拆装与外场","P0","外场运输","场地条件未知","海拉尔／公路院是否有硬地面、配重和固定条件？","箱内清金属脚垫区的方案不能直接移植到野外蓝冰／雪面。","建立场地支承接口表；现场借配重或确认可拆固定，与箱内分载板分别核验。","USER,L33"],
    ["I05","搬运、拆装与外场","P1","外场运输","需核实","外场是否有足够的供电和接地？","USB是通信不是伺服动力来源；3.1kW级驱动需配套供电。","首版优先有可靠电源的场地，核输入相数、容量、线缆和电控柜环境。","L26,USER"],
    ["I06","搬运、拆装与外场","P1","外场运输","未验收","运输冲击是否损伤传感器、轴承或轮辋？","已装配测力链承受路途振动／跌落，不等同于正常测试力。","运输时用专用支承／保护锁止，不把冲击压过传感器；到场做检查与标定核验。","L31,L11"],
    ["I07","搬运、拆装与外场","P1","首版","需操作细化","一人是否能在低温条件下完成装样和移动？","50kg容许重量不自动意味着单人可安全提起；戴手套影响抓握与销锁操作。","把实际操作者、单件、提手／重心和辅助搬运方式写进装配与移动方案。","USER,L31"],
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}
