With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on diffe...With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.展开更多
As an im portant scholar of contemporary sinology，Sarah A lla n ’s research on Chinese ancient h is to ry，on the basis of continuing the tradition of historical studies and archaeology， used Claude Levi - Strauss5...As an im portant scholar of contemporary sinology，Sarah A lla n ’s research on Chinese ancient h is to ry，on the basis of continuing the tradition of historical studies and archaeology， used Claude Levi - Strauss5 theory and method of structuralism for reference，and opened a new path for western Sinological research. H er study of ancient legends initiated wide interest in the circles of sinology ，and was considered to be both special and very innovative.展开更多
Two years ago I had a chance to read four unpublished Sumerian texts newly housed in the Okayama Orient Museum, Okayama-shi, Japan. With the generous permission of Prof. Dr. Taksahi TANIICHI, Director General of the M...Two years ago I had a chance to read four unpublished Sumerian texts newly housed in the Okayama Orient Museum, Okayama-shi, Japan. With the generous permission of Prof. Dr. Taksahi TANIICHI, Director General of the Museum, I offer three of the texts below.展开更多
In recent years,the concept"northern ethnic dynasties"has been widely used when referring to dynasties established by ethnic groups from northern China,including Liao,Jin,Yuan,and Qing dynasty.When it comes ...In recent years,the concept"northern ethnic dynasties"has been widely used when referring to dynasties established by ethnic groups from northern China,including Liao,Jin,Yuan,and Qing dynasty.When it comes to the prolonged debates on the relation between ethnic groups and state,the traditional narrative of the dynastic history of Central Plains,which holds"sinicization"as its principal line,has been challenged;and the academia has been focusing on how to elaborate features and state forms of these northern ethnic dynasties.This article argues that,only by returning to the dynasty-based narrative of the evolvement of northern ethnic regimes,can we break the shackle of western-style"nation state"narrative;can we understand the fact that dynasticity transcends ethnicity in Chinese history;and can we thereby establish the correct view of history on the Chinese nation.展开更多
In ancient China,true kingship was supreme rule over all under Heaven by the royal houses of the Xia,Shang and Western Zhou dynasties(the Three Dynasties).It was associated with the Three Dynasties’plural but unified...In ancient China,true kingship was supreme rule over all under Heaven by the royal houses of the Xia,Shang and Western Zhou dynasties(the Three Dynasties).It was associated with the Three Dynasties’plural but unified composite state structure,and its birth was signaled by the emergence of the Xia dynasty.At the time,kingship was related to the appellation“king”(王wang),but was not absolutely equated to it.On the one hand,whenever oracle bone and bronze inscriptions and textual records refer directly to“king(s),”the word refers to the Shang and Zhou kings;but on the other,some bronze inscriptions preserve the use of“king”to refer to the chieftains of smaller tribal states in remote areas.When a supreme dynastic ruler bore the appellation“king,”this indicated the kingly power of the royal house;but when the ruler of a small remote state called himself“king,”the word expressed rule over his state.The appellation“king”was used for these two different levels because the Chinese character“王”and the corresponding royal title originated in the shape of the battle axe that symbolized command of armies.The Xia dynasty was not China’s first state,for in the age of Yao,Shun and Yu numerous local states had organized themselves into tribal federations.Xia dynasty kingship,where the king was“common ruler of all under Heaven”(天下共主tianxia gongzhu)developed out of the power wielded by the hegemonic chieftains in the age of very large tribal states.展开更多
基金supported in part by the National Nature Science Foundation of China[No.62073229]Jiangsu Policy Guidance Program(International Science and Technology Cooperation)The Belt and Road Initiative Innovative Cooperation Projects(No.BZ2021016)EDL fund of Beijing Institute of Space Mechanics and Electricity(Grant No.EDL19092127).
文摘With the increasing size of space facilities,on-orbit assembly requires robots to move on different heights of trusses.This paper proposes a bio-inspired attachment mechanism for robot feet to enable climbing on different heights of trusses.Inspired by the attachment and grasping abilities of Dynastes Hercules,we utilize its foot microstructures,such as microhooks and setae,to achieve efficient contact and firm grip with the surface.The morphology and arrangement of these structures can inspire the design of robot feet to improve their grasping and stability performance.We study the biological structure of Dynastes Hercules,design and optimize the bio-inspired structure,analyze the influence of various factors from theoretical and experimental perspectives,and verify the feasibility of the scheme through simulation.We propose an ideal climbing strategy that provides useful reference for robot applications in practice.Moreover,the influence laws of various factors in this paper can be applied to robot foot design to improve their operation ability and stability performance in the space environment.This bio-inspired mechanism can improve robot working range and efficiency,which is critical for on-orbit assemblyin space.
文摘As an im portant scholar of contemporary sinology，Sarah A lla n ’s research on Chinese ancient h is to ry，on the basis of continuing the tradition of historical studies and archaeology， used Claude Levi - Strauss5 theory and method of structuralism for reference，and opened a new path for western Sinological research. H er study of ancient legends initiated wide interest in the circles of sinology ，and was considered to be both special and very innovative.
文摘Two years ago I had a chance to read four unpublished Sumerian texts newly housed in the Okayama Orient Museum, Okayama-shi, Japan. With the generous permission of Prof. Dr. Taksahi TANIICHI, Director General of the Museum, I offer three of the texts below.
基金the 2020 Research Base Project of National Ethnic Affairs Commission of the PRC"Historical Investigation on the Formation,Spread and Cultivation of the Sense of Community for the Chinese Nation-Centering on the Manchurian,Mongolian and Tibetan Ethnic Groups"(2020-GMG-027)it is supported by the"Interdisciplinary Platform of Renmin University of China for Building the Sense of Community for the Chinese Nation"。
文摘In recent years,the concept"northern ethnic dynasties"has been widely used when referring to dynasties established by ethnic groups from northern China,including Liao,Jin,Yuan,and Qing dynasty.When it comes to the prolonged debates on the relation between ethnic groups and state,the traditional narrative of the dynastic history of Central Plains,which holds"sinicization"as its principal line,has been challenged;and the academia has been focusing on how to elaborate features and state forms of these northern ethnic dynasties.This article argues that,only by returning to the dynasty-based narrative of the evolvement of northern ethnic regimes,can we break the shackle of western-style"nation state"narrative;can we understand the fact that dynasticity transcends ethnicity in Chinese history;and can we thereby establish the correct view of history on the Chinese nation.
文摘In ancient China,true kingship was supreme rule over all under Heaven by the royal houses of the Xia,Shang and Western Zhou dynasties(the Three Dynasties).It was associated with the Three Dynasties’plural but unified composite state structure,and its birth was signaled by the emergence of the Xia dynasty.At the time,kingship was related to the appellation“king”(王wang),but was not absolutely equated to it.On the one hand,whenever oracle bone and bronze inscriptions and textual records refer directly to“king(s),”the word refers to the Shang and Zhou kings;but on the other,some bronze inscriptions preserve the use of“king”to refer to the chieftains of smaller tribal states in remote areas.When a supreme dynastic ruler bore the appellation“king,”this indicated the kingly power of the royal house;but when the ruler of a small remote state called himself“king,”the word expressed rule over his state.The appellation“king”was used for these two different levels because the Chinese character“王”and the corresponding royal title originated in the shape of the battle axe that symbolized command of armies.The Xia dynasty was not China’s first state,for in the age of Yao,Shun and Yu numerous local states had organized themselves into tribal federations.Xia dynasty kingship,where the king was“common ruler of all under Heaven”(天下共主tianxia gongzhu)developed out of the power wielded by the hegemonic chieftains in the age of very large tribal states.
