A concert of powers has become a new institutional arrangement for building a new-type major powers relationship in East Asia.In view of standardization,the consistency,legitimacy,accountability,inclusiveness,and self...A concert of powers has become a new institutional arrangement for building a new-type major powers relationship in East Asia.In view of standardization,the consistency,legitimacy,accountability,inclusiveness,and self-restraint,etc.enjoyed by a concert of powers are very suitable for the East Asian multilateral security mechanism featuring"cooperative security"concept,"ASEAN Way"of decision-making as well as"open regionalism"approach.In view of the practical conditions,major powers peculiarities and effectively solving hot issues highlighted by the East Asia geopolitical ecology require a concert of powers while a relative equilibrium of the East Asian regional major powers is in favor of a concert of powers.In terms of experience,the peaceful settlement of the Cambodian issue and the Six-party Talks on the DPRK nuclear issue provide a feasible path to initiate a concert of powers in sub-regions regarding the traditional security matter related indirectly with major powers.A new concert of powers in East Asia has three options,namely"soft security"-oriented multilateral coordination,"comprehensive security"-oriented"bilateral coordination"and"multilateral coordination".East Asia Summit and the existing major powers’bilateral strategic dialogue mechanisms are available institutional assets to be used by above-mentioned first two paths.The ideal state of third path is an independent security mechanism,designed to respond to major regional conflicts and crises.In practice,these three kinds of path can overlap,and be in parallel operation,and constitute"a concert of powers network"with bilateral and multilateral interactions,thus,providing a solid and effective mechanism for the East Asian regional security governance.展开更多
Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait gener...Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.展开更多
文摘A concert of powers has become a new institutional arrangement for building a new-type major powers relationship in East Asia.In view of standardization,the consistency,legitimacy,accountability,inclusiveness,and self-restraint,etc.enjoyed by a concert of powers are very suitable for the East Asian multilateral security mechanism featuring"cooperative security"concept,"ASEAN Way"of decision-making as well as"open regionalism"approach.In view of the practical conditions,major powers peculiarities and effectively solving hot issues highlighted by the East Asia geopolitical ecology require a concert of powers while a relative equilibrium of the East Asian regional major powers is in favor of a concert of powers.In terms of experience,the peaceful settlement of the Cambodian issue and the Six-party Talks on the DPRK nuclear issue provide a feasible path to initiate a concert of powers in sub-regions regarding the traditional security matter related indirectly with major powers.A new concert of powers in East Asia has three options,namely"soft security"-oriented multilateral coordination,"comprehensive security"-oriented"bilateral coordination"and"multilateral coordination".East Asia Summit and the existing major powers’bilateral strategic dialogue mechanisms are available institutional assets to be used by above-mentioned first two paths.The ideal state of third path is an independent security mechanism,designed to respond to major regional conflicts and crises.In practice,these three kinds of path can overlap,and be in parallel operation,and constitute"a concert of powers network"with bilateral and multilateral interactions,thus,providing a solid and effective mechanism for the East Asian regional security governance.
基金supported by the National Basic Research Program of China (Grant No. 2013CB035501)
文摘Obstacle avoidance is quite an important issue in the field of legged robotic applications, such as rescuing and detecting in complicated environment. Most related researchers focused on the legged robot’s gait generation after ssuming that obstacles have been detected and the walking path has been given. In this paper we propose and validate a novel obstacle avoidance framework for a six-legged walking robot Hexapod-III in unknown environment. Throughout the paper we highlight three themes: (1) The terrain map modeling and the obstacle detection; (2) the obstacle avoidance path planning method; (3) motion planning for the legged robot. Concretely, a novel geometric feature grid map (GFGM) is proposed to describe the terrain. Based on the GFGM, the obstacle detection algorithm is presented. Then the concepts of virtual obstacles and safe conversion pose are introduced. Virtual obstacles restrict the robot to walk on the detection terrain. A safe path based on Bezier curves, passing through safe conversion poses, is obtained by minimizing a penalty function taking into account the path length subjected to obstacle avoidance. Thirdly, motion planning for the legged robot to walk along the generated path is discussed in detail. At last, we apply the proposed framework to the Hexapod-III robot. The experimental result shows that our methodology allows the robot to walk safely without encountering with any obstacles in unknown environment.
