On February 28,CIIS President Chen Bo,along with scholars in relevant fields,met with Co-chairs of the Intergovernmental Negotiations on the United Nations Security Council Reform of the 78th session of the UN General...On February 28,CIIS President Chen Bo,along with scholars in relevant fields,met with Co-chairs of the Intergovernmental Negotiations on the United Nations Security Council Reform of the 78th session of the UN General Assembly,Permanent Representative of Kuwait to the UN Tareq M.A.M.Albanai and Permanent Representative of Austria to the UN Alexander Marschik.展开更多
Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires senso...Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.展开更多
Objective To provide reference for better landing of the negotiated drugs in the future.Methods Relevant data on the negotiated drugs in designated medical institutions and retail pharmacies from the website of the Me...Objective To provide reference for better landing of the negotiated drugs in the future.Methods Relevant data on the negotiated drugs in designated medical institutions and retail pharmacies from the website of the Medical Security Bureau was obtained,and then the allocation and problems of negotiated drugs were summarized and analyzed.Results and Conclusion The main problem for the landing of negotiated drugs is the difficulty of using them in medical institutions.First,there is a small number of designated medical institutions that can use some negotiated drugs.Second,the negotiated drugs vary greatly in the designated medical institutions.Lastly,some designated retail pharmacies do not supply the negotiated drugs.The difficulties in using the negotiated drugs can include subjective reasons and objective reasons.Retail pharmacies are not the official places where patients can use the negotiated drugs.Besides,if medical institutions do not supply and use negotiated drugs,it will pose a great risk to drug safety.Negotiated drugs should be used in designated medical institutions ultimately,which is conducive to safeguarding the rational drug use for patients.展开更多
To enhance the practicability of the trust negotiation system, an agent based automated trust negotiation model (ABAM) is proposed. The ABAM introduces an agent to keep the negotiation process with no human interven...To enhance the practicability of the trust negotiation system, an agent based automated trust negotiation model (ABAM) is proposed. The ABAM introduces an agent to keep the negotiation process with no human intervention. Meanwhile, the ABAM specifies the format of a meta access control policy, and adopts credentials with flexible format to meet the requirements of access control policies instead of disclosing the whole contents of a certificate. Furthermore, the ABAM uses asymmetric functions with a high security intensity to encrypt the transmitting message, which can prevent information from being attacked. Finally, the ABAM presents a new negotiation protocol to guide the negotiation process. A use case is studied to illuminate that the ABAM is sound and reasonable. Compared with the existing work, the intelligence, privacy and negotiation efficiency are improved in the ABAM.展开更多
In order to construct cooperation platform for the treatment of water pollution in Changjiang River,thoughts and revolution were performed from both central government and regional area two aspects.From the national l...In order to construct cooperation platform for the treatment of water pollution in Changjiang River,thoughts and revolution were performed from both central government and regional area two aspects.From the national level,Changjiang region water resources management cooperation counsel committee was constructed as the national cooperation platform;from the regional level,Changjiang region water resources management cooperation counsel committee was constructed as the platform of Changjiang cooperation platform.The two platforms built fine interaction mechanism to deal with the national water management and Changjiang regional water management.展开更多
In the environment of e-commerce, agents in automated negotiation should share common concept of what they are bargaining and a rule of how to bargain. State of the art overviews of automated negotiation is given. The...In the environment of e-commerce, agents in automated negotiation should share common concept of what they are bargaining and a rule of how to bargain. State of the art overviews of automated negotiation is given. The main barriers to automated negotiation such as protocol and ontology are discussed. Then, a model of automated negotiation is presented with the ontologies of roles and goods described by web ontology language (OWL), the proposal strategies based on the information sets, and a set of rules for agent interaction. In this model, agents coming from different organizations can negotiate automatically based on common ontologies defined by OWL and formal protocol. This makes it possible for the automated negotiation to be performed in an open environment such as Internet, not merely in a closed system.展开更多
With the new characteristics of global cooperation in supply chains being synthetically considered,a hybrid model to the cooperative negotiation process for the order distribution in supply chain is mainly studied.Aft...With the new characteristics of global cooperation in supply chains being synthetically considered,a hybrid model to the cooperative negotiation process for the order distribution in supply chain is mainly studied.After reviewing and analyzing some main domestic and overseas processes in cooperative negotiation modeling in supply chain,some problems are subsequently pointed out.For example,the traditional simple multi-agent system(MAS)frameworks which have some limitations,are not suitable for solving modeling complex systems.To solve these problems,thinking with the aid of the multi-agent structure and complex system modeling,the manufacturing supply chain is taken as an example,and a time Petri net production model is adopted to decompose the materials.And then a cooperative negotiation model for the order distribution in supply chain is constructed based on combining multi-agent techniques with time Petri net modeling.The simulation results reveal that the above model helps solve the problems of cooperative negotiation in supply chains.展开更多
Studies in international business negotiation acquire unprecedented significance,as globalization closely connects various business fields into a dynamic whole.Cultural factors play a vital role in international busin...Studies in international business negotiation acquire unprecedented significance,as globalization closely connects various business fields into a dynamic whole.Cultural factors play a vital role in international business negotiation.This paper begins with a brief introduction to business negotiation,international business negotiation and significance of cultural barriers to international business negotiation.It then explores two fundamental cultural differences of China and western countries:value differences and thinking-pattern differences,which pose cultural barriers.The author then puts forward three strategies to help remove the cultural barriers and achieve successful negotiations.展开更多
Communication is not just verbal. This paper concentrates on the three areas of nonverbal communication that will most likely affect contract negotiations, that is proxemic communication, using available space, distan...Communication is not just verbal. This paper concentrates on the three areas of nonverbal communication that will most likely affect contract negotiations, that is proxemic communication, using available space, distance form or proximity to other people, and territorial control. Based on this, the paper tends to provide certain strategies to promote the negotiation.展开更多
As the economic globalization deepens, trades among nations are steadily increasing. Therefore, the international business negotiations become more and more significant. In the process of negotiations, the application...As the economic globalization deepens, trades among nations are steadily increasing. Therefore, the international business negotiations become more and more significant. In the process of negotiations, the application of appropriate strategies is necessary for negotiators to reach an agreement smoothly. However, the non-verbal communication plays an important role to some extent in real international business negotiations. This article tends to explore the application of non-verbal strategies in the international business negotiations.展开更多
Different countries have different cultures.Currently,the world is developing quickly in the age of economic globalization.Business contacts among nations get increasingly close,which has brought more and more opportu...Different countries have different cultures.Currently,the world is developing quickly in the age of economic globalization.Business contacts among nations get increasingly close,which has brought more and more opportunities to deal with businesses.Actually,international business negotiation is the most important part of international business,meanwhile,cultural differences have many influence on international business negotiation,such as languages,manners,time,thinking,value and attitudes and so on.Analyzing their differences is a good way to find out some effective ways to avoid or mitigate the adverse impacts the cross-cultural elements might produce on international business negotiation.展开更多
A new multi-agent automated negotiation model is developed and evaluated, in which two competitive agents, such as the buyer and seller, have firm deadlines and incomplete information about each other. The negotiation...A new multi-agent automated negotiation model is developed and evaluated, in which two competitive agents, such as the buyer and seller, have firm deadlines and incomplete information about each other. The negotiation is multi-dimensional in different cases. The model is discussed in 6 kinds of cases with different price strategies, warrantee strategies and time strategies. The model improves the model of Wooldridge and that of Sycara to a certain extent. In all possible situations, the optimal negotiation strategy is analyzed and presented, and an e-commerce model based on multi-agent automated negotiation model is also illustrated for the e-commerce application in the future.展开更多
The key problem in the construction of virtual enterprises (VEs) is how toselect appropriate partners. The negotiation-based approach is proposed to support partner selectionin the construction of VEs. The negotiation...The key problem in the construction of virtual enterprises (VEs) is how toselect appropriate partners. The negotiation-based approach is proposed to support partner selectionin the construction of VEs. The negotiation model is discussed from three main aspectsrespectively, i.e., negotiation protocol, negotiation goal and negotiation decision-making model.And the generic mathematical description of the negotiation model is formally presented. Finally, asimple example is used to validate the approach's availability.展开更多
This paper discusses the issue of pollution reduction in metropolises by means of intelligent negotiation in multi-agent systems. For situations of complete information, it gives a stochastic hill-climbing search algo...This paper discusses the issue of pollution reduction in metropolises by means of intelligent negotiation in multi-agent systems. For situations of complete information, it gives a stochastic hill-climbing search algorithm for computing the pollution-reduction solutions; For situations of incomplete information, it puts forward a genetic algorithm for computing the best solutions for every plants subjectively and proposes market-mechanism-based algorithm for computing the emission-redistribution solutions objectively. Key words intelligent negotiation - game theory - pollution reduction - genetic algorithm CLC number TP 391.1 Foundation item: Supported by the National 863 Project (2002AA134020-04)Biography: HAN Wei (1975-) male, Ph.D. candidate, research direction: MAS and Electronic Commercial.展开更多
A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated ne...A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated negotiation was constructed, in which Least-Squares Support Vector Regression (LSSVR) was improved to estimate the opponent's negotiation utility and the robust controller of output feedback was employed to optimize the utility performance indicators. Thirdly, the protocol of negotiation and reallocation was proposed to improve the real-time capability and task allocation. Finally, the validity of method was proved through experiments.展开更多
Trust negotiation (TN) is an approach to establish trust between strangers through iterative disclosure of digital credentials. Speeding up subsequent negotiations between the same negotiators is a problem worth of ...Trust negotiation (TN) is an approach to establish trust between strangers through iterative disclosure of digital credentials. Speeding up subsequent negotiations between the same negotiators is a problem worth of research. This paper introduces the concept of visiting card, and presents a history-based trust negotiation (HBTN) model. HBTN creates an account for a counterpart at the first negotiation and records valid credentials that the counterpart disclosed during each trust negotiation in his historical information base (HIB). For the following negotiation, no more credentials need to be disclosed for both parties. HBTN speeds up subsequent negotiations between the entities that interact with each other frequently without impairing the privacy preservation.展开更多
In order to enhance the efficiency in bilateral multi-issue negotiation under incomplete information, double learning algorithm that includes Q-learning algorithm and Bayesian learning algorithm is presented. The Q-le...In order to enhance the efficiency in bilateral multi-issue negotiation under incomplete information, double learning algorithm that includes Q-learning algorithm and Bayesian learning algorithm is presented. The Q-learning algorithm is used to learn the weights of issues, and the Bayesian learning algorithm is used to learn the reservation price of issues. Experiments show that the algorithm can help agents to negotiate more efficiently.展开更多
In view of no generally accepted ecological compensation standards and methods at present,this paper discusses the introduction of the negotiation system to the process of ecological compensation for water source area...In view of no generally accepted ecological compensation standards and methods at present,this paper discusses the introduction of the negotiation system to the process of ecological compensation for water source areas.That is,the government in water source areas and the downstream regions of river basins should confirm their respective rights and obligations and then establish their compensation standards through negotiations according to the different purposes of water use.The amount of compensation should be determined in the comprehensive consideration of the quality,quantity and compensation price of water.Through open and fair negotiations,an institutional arrangement will be set up,which can make the water source areas and the downstream regions of river basins fully express their true preferences and their independent choices on the ecological environment.展开更多
The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the ...The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point (ZMP) trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.展开更多
Consensus and disagreements between China and the U.S. are the key factors influencing the direction that global climate negotiation is heading for. By taking into account the uncertainties of temperature increment an...Consensus and disagreements between China and the U.S. are the key factors influencing the direction that global climate negotiation is heading for. By taking into account the uncertainties of temperature increment and its impact on GDP growth, together with the positive, negative and spillover effects of climate change investment on utility, a strategic simulation model including China and the U.S. is developed. Based on utility and game theory, a sensitivity analysis is conducted. The results show that the first-mover disadvantage exists in the game, and the scale of each country's climate change investment under non-cooperative win-win basis for global cooperation, the technology transfer and funding to China scenario is too small to ensure the 2℃ simulation results also indicate that it target. To guarantee the stability and makes sense to assist and compensate展开更多
文摘On February 28,CIIS President Chen Bo,along with scholars in relevant fields,met with Co-chairs of the Intergovernmental Negotiations on the United Nations Security Council Reform of the 78th session of the UN General Assembly,Permanent Representative of Kuwait to the UN Tareq M.A.M.Albanai and Permanent Representative of Austria to the UN Alexander Marschik.
文摘Every day walking consists of frequent voluntary modifications in the gait pattern to negotiate obstacles.After spinal cord injury,stepping over an obstacle becomes challenging.Stepping over an obstacle requires sensorimotor transformations in several structures of the brain,including the parietal cortex,premotor cortex,and motor cortex.Sensory information and planning are transformed into motor commands,which are sent from the motor cortex to spinal neuronal circuits to alter limb trajectory,coordinate the limbs,and maintain balance.After spinal cord injury,bidirectional communication between the brain and spinal cord is disrupted and animals,including humans,fail to voluntarily modify limb trajectory to step over an obstacle.Therefore,in this review,we discuss the neuromechanical control of stepping over an obstacle,why it fails after spinal cord injury,and how it recovers to a certain extent.
文摘Objective To provide reference for better landing of the negotiated drugs in the future.Methods Relevant data on the negotiated drugs in designated medical institutions and retail pharmacies from the website of the Medical Security Bureau was obtained,and then the allocation and problems of negotiated drugs were summarized and analyzed.Results and Conclusion The main problem for the landing of negotiated drugs is the difficulty of using them in medical institutions.First,there is a small number of designated medical institutions that can use some negotiated drugs.Second,the negotiated drugs vary greatly in the designated medical institutions.Lastly,some designated retail pharmacies do not supply the negotiated drugs.The difficulties in using the negotiated drugs can include subjective reasons and objective reasons.Retail pharmacies are not the official places where patients can use the negotiated drugs.Besides,if medical institutions do not supply and use negotiated drugs,it will pose a great risk to drug safety.Negotiated drugs should be used in designated medical institutions ultimately,which is conducive to safeguarding the rational drug use for patients.
基金The National Natural Science Foundation of China(No60403027)
文摘To enhance the practicability of the trust negotiation system, an agent based automated trust negotiation model (ABAM) is proposed. The ABAM introduces an agent to keep the negotiation process with no human intervention. Meanwhile, the ABAM specifies the format of a meta access control policy, and adopts credentials with flexible format to meet the requirements of access control policies instead of disclosing the whole contents of a certificate. Furthermore, the ABAM uses asymmetric functions with a high security intensity to encrypt the transmitting message, which can prevent information from being attacked. Finally, the ABAM presents a new negotiation protocol to guide the negotiation process. A use case is studied to illuminate that the ABAM is sound and reasonable. Compared with the existing work, the intelligence, privacy and negotiation efficiency are improved in the ABAM.
基金Supported by National Social Science Fund Program " Study on Negotiation Mode,Mechanism and Policy of Cross-border Water Pollution Treatment in Changjiang River Delta Area"(09BFX042)Key Subject Industry Economics Subject of East China University of Political Science and Law(CJ10-008)~~
文摘In order to construct cooperation platform for the treatment of water pollution in Changjiang River,thoughts and revolution were performed from both central government and regional area two aspects.From the national level,Changjiang region water resources management cooperation counsel committee was constructed as the national cooperation platform;from the regional level,Changjiang region water resources management cooperation counsel committee was constructed as the platform of Changjiang cooperation platform.The two platforms built fine interaction mechanism to deal with the national water management and Changjiang regional water management.
基金The National Natural Science Foundation of China(No.70171011).
文摘In the environment of e-commerce, agents in automated negotiation should share common concept of what they are bargaining and a rule of how to bargain. State of the art overviews of automated negotiation is given. The main barriers to automated negotiation such as protocol and ontology are discussed. Then, a model of automated negotiation is presented with the ontologies of roles and goods described by web ontology language (OWL), the proposal strategies based on the information sets, and a set of rules for agent interaction. In this model, agents coming from different organizations can negotiate automatically based on common ontologies defined by OWL and formal protocol. This makes it possible for the automated negotiation to be performed in an open environment such as Internet, not merely in a closed system.
基金The National Natural Science Foundation of China(No.70401013)the National Key Technology R&D Program of China during the 11th Five-Year Plan Period(No.2006BAH02A06)
文摘With the new characteristics of global cooperation in supply chains being synthetically considered,a hybrid model to the cooperative negotiation process for the order distribution in supply chain is mainly studied.After reviewing and analyzing some main domestic and overseas processes in cooperative negotiation modeling in supply chain,some problems are subsequently pointed out.For example,the traditional simple multi-agent system(MAS)frameworks which have some limitations,are not suitable for solving modeling complex systems.To solve these problems,thinking with the aid of the multi-agent structure and complex system modeling,the manufacturing supply chain is taken as an example,and a time Petri net production model is adopted to decompose the materials.And then a cooperative negotiation model for the order distribution in supply chain is constructed based on combining multi-agent techniques with time Petri net modeling.The simulation results reveal that the above model helps solve the problems of cooperative negotiation in supply chains.
文摘Studies in international business negotiation acquire unprecedented significance,as globalization closely connects various business fields into a dynamic whole.Cultural factors play a vital role in international business negotiation.This paper begins with a brief introduction to business negotiation,international business negotiation and significance of cultural barriers to international business negotiation.It then explores two fundamental cultural differences of China and western countries:value differences and thinking-pattern differences,which pose cultural barriers.The author then puts forward three strategies to help remove the cultural barriers and achieve successful negotiations.
文摘Communication is not just verbal. This paper concentrates on the three areas of nonverbal communication that will most likely affect contract negotiations, that is proxemic communication, using available space, distance form or proximity to other people, and territorial control. Based on this, the paper tends to provide certain strategies to promote the negotiation.
文摘As the economic globalization deepens, trades among nations are steadily increasing. Therefore, the international business negotiations become more and more significant. In the process of negotiations, the application of appropriate strategies is necessary for negotiators to reach an agreement smoothly. However, the non-verbal communication plays an important role to some extent in real international business negotiations. This article tends to explore the application of non-verbal strategies in the international business negotiations.
文摘Different countries have different cultures.Currently,the world is developing quickly in the age of economic globalization.Business contacts among nations get increasingly close,which has brought more and more opportunities to deal with businesses.Actually,international business negotiation is the most important part of international business,meanwhile,cultural differences have many influence on international business negotiation,such as languages,manners,time,thinking,value and attitudes and so on.Analyzing their differences is a good way to find out some effective ways to avoid or mitigate the adverse impacts the cross-cultural elements might produce on international business negotiation.
文摘A new multi-agent automated negotiation model is developed and evaluated, in which two competitive agents, such as the buyer and seller, have firm deadlines and incomplete information about each other. The negotiation is multi-dimensional in different cases. The model is discussed in 6 kinds of cases with different price strategies, warrantee strategies and time strategies. The model improves the model of Wooldridge and that of Sycara to a certain extent. In all possible situations, the optimal negotiation strategy is analyzed and presented, and an e-commerce model based on multi-agent automated negotiation model is also illustrated for the e-commerce application in the future.
基金National Natural Science Foundation of China (No. 59990470).
文摘The key problem in the construction of virtual enterprises (VEs) is how toselect appropriate partners. The negotiation-based approach is proposed to support partner selectionin the construction of VEs. The negotiation model is discussed from three main aspectsrespectively, i.e., negotiation protocol, negotiation goal and negotiation decision-making model.And the generic mathematical description of the negotiation model is formally presented. Finally, asimple example is used to validate the approach's availability.
文摘This paper discusses the issue of pollution reduction in metropolises by means of intelligent negotiation in multi-agent systems. For situations of complete information, it gives a stochastic hill-climbing search algorithm for computing the pollution-reduction solutions; For situations of incomplete information, it puts forward a genetic algorithm for computing the best solutions for every plants subjectively and proposes market-mechanism-based algorithm for computing the emission-redistribution solutions objectively. Key words intelligent negotiation - game theory - pollution reduction - genetic algorithm CLC number TP 391.1 Foundation item: Supported by the National 863 Project (2002AA134020-04)Biography: HAN Wei (1975-) male, Ph.D. candidate, research direction: MAS and Electronic Commercial.
基金Supported by the National Natural Science Fund Projects(No. 60974055, 61075076, 61075077)Engineering center for failure diagnosis of petrochemical device and information control of Guangdong universities,the Guangdong Natural Science Fund Projects (8152500002000003)the Natural Science Fund of Guangdong (S20120100-09963)
文摘A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated negotiation was constructed, in which Least-Squares Support Vector Regression (LSSVR) was improved to estimate the opponent's negotiation utility and the robust controller of output feedback was employed to optimize the utility performance indicators. Thirdly, the protocol of negotiation and reallocation was proposed to improve the real-time capability and task allocation. Finally, the validity of method was proved through experiments.
基金supported by the National Natural Science Foundation of China (Grant No.60403027)
文摘Trust negotiation (TN) is an approach to establish trust between strangers through iterative disclosure of digital credentials. Speeding up subsequent negotiations between the same negotiators is a problem worth of research. This paper introduces the concept of visiting card, and presents a history-based trust negotiation (HBTN) model. HBTN creates an account for a counterpart at the first negotiation and records valid credentials that the counterpart disclosed during each trust negotiation in his historical information base (HIB). For the following negotiation, no more credentials need to be disclosed for both parties. HBTN speeds up subsequent negotiations between the entities that interact with each other frequently without impairing the privacy preservation.
基金by the Ministerial Level Advanced Foundation(41325081)
文摘In order to enhance the efficiency in bilateral multi-issue negotiation under incomplete information, double learning algorithm that includes Q-learning algorithm and Bayesian learning algorithm is presented. The Q-learning algorithm is used to learn the weights of issues, and the Bayesian learning algorithm is used to learn the reservation price of issues. Experiments show that the algorithm can help agents to negotiate more efficiently.
基金supported by the National Natural Science Foundation of China(Grant no.70873077)
文摘In view of no generally accepted ecological compensation standards and methods at present,this paper discusses the introduction of the negotiation system to the process of ecological compensation for water source areas.That is,the government in water source areas and the downstream regions of river basins should confirm their respective rights and obligations and then establish their compensation standards through negotiations according to the different purposes of water use.The amount of compensation should be determined in the comprehensive consideration of the quality,quantity and compensation price of water.Through open and fair negotiations,an institutional arrangement will be set up,which can make the water source areas and the downstream regions of river basins fully express their true preferences and their independent choices on the ecological environment.
基金Sponsored by the National"863"Program Project (1020021300704)
文摘The motion planning for obstacle negotiation by humanoid robot BHR-2 through stepping over or stepping on/off the wide and flat obstacle at known locations is presented. In the trajectory generation method, first the constraints of the foot motion parameters which include obstacle dimensions and the distance of obstacle from the humanoid robot is formulated. By varying the values of the constraint parameters, different types of foot motion for different obstacles can be produced. In this method, first the foot trajectory is generated, and then the waist trajectory is computed by using cubic spline interpolation without first calculating the zero moment point (ZMP) trajectory . The dynamic stability during the execution of stepping over and stepping on/off trajectories are ensured by incorporating the ZMP criterion. The effectiveness of the proposed method is confirmed by simulations and experiments on humanoid robot BHR-2.
基金supported by the Natural Science Foundation(No.71273153)the National Key Technology R&D Program(No.2012BAC20B04)
文摘Consensus and disagreements between China and the U.S. are the key factors influencing the direction that global climate negotiation is heading for. By taking into account the uncertainties of temperature increment and its impact on GDP growth, together with the positive, negative and spillover effects of climate change investment on utility, a strategic simulation model including China and the U.S. is developed. Based on utility and game theory, a sensitivity analysis is conducted. The results show that the first-mover disadvantage exists in the game, and the scale of each country's climate change investment under non-cooperative win-win basis for global cooperation, the technology transfer and funding to China scenario is too small to ensure the 2℃ simulation results also indicate that it target. To guarantee the stability and makes sense to assist and compensate