 Complete the following phrase:  The origins of the Imperial Japanese Navy go back to early interactions with nations on the Asian continent, beginning in the early medieval period and reaching a peak of activity during the 16th and 17th centuries at a time of cultural exchange with European powers during the Age of Discovery. After two centuries of stagnation during the countrys ensuing seclusion policy under the shōgun of the Edo period, Japans navy was comparatively backward when the country was forced open to trade by American intervention in 1854. This eventually led to the Meiji Restoration. Accompanying the re-ascendance of the Emperor came a period of frantic modernization and industrialization. The navy had several successes, sometimes against much more powerful enemies such as in the 