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You can add a link to the Navigation panel to ../infusions/terms/terms_admin.php. Any member, who is not set as an administrator in the General Settings, can then access the 'Submit Term' page. Non-members will automatically be redirected to the site's index page.
Administrators will not see the submit page, as these will add their new terms through the regular admin pages. See for example what you see when you click http://www.muscap..._admin.php. You will see a different page than I do when i click that link. ;)