This contribution is dedicated to the celebration of Rémi Abgrall’s accomplishments in Applied Mathematics and Scientific Computing during the conference“Essentially Hyperbolic Problems:Unconventional Numerics,...This contribution is dedicated to the celebration of Rémi Abgrall’s accomplishments in Applied Mathematics and Scientific Computing during the conference“Essentially Hyperbolic Problems:Unconventional Numerics,and Applications”.With respect to classical Finite Elements Methods,Trefftz methods are unconventional methods because of the way the basis functions are generated.Trefftz discontinuous Galerkin(TDG)methods have recently shown potential for numerical approximation of transport equations[6,26]with vectorial exponential modes.This paper focuses on a proof of the approximation properties of these exponential solutions.We show that vectorial exponential functions can achieve high order convergence.The fundamental part of the proof consists in proving that a certain rectangular matrix has maximal rank.展开更多
We provide a concise review of the exponentially convergent multiscale finite element method(ExpMsFEM)for efficient model reduction of PDEs in heterogeneous media without scale separation and in high-frequency wave pr...We provide a concise review of the exponentially convergent multiscale finite element method(ExpMsFEM)for efficient model reduction of PDEs in heterogeneous media without scale separation and in high-frequency wave propagation.The ExpMsFEM is built on the non-overlapped domain decomposition in the classical MsFEM while enriching the approximation space systematically to achieve a nearly exponential convergence rate regarding the number of basis functions.Unlike most generalizations of the MsFEM in the literature,the ExpMsFEM does not rely on any partition of unity functions.In general,it is necessary to use function representations dependent on the right-hand side to break the algebraic Kolmogorov n-width barrier to achieve exponential convergence.Indeed,there are online and offline parts in the function representation provided by the ExpMsFEM.The online part depends on the right-hand side locally and can be computed in parallel efficiently.The offline part contains basis functions that are used in the Galerkin method to assemble the stiffness matrix;they are all independent of the right-hand side,so the stiffness matrix can be used repeatedly in multi-query scenarios.展开更多
The exponential Randić index has important applications in the fields of biology and chemistry. The exponential Randić index of a graph G is defined as the sum of the weights e 1 d( u )d( v ) of all edges uv of G, whe...The exponential Randić index has important applications in the fields of biology and chemistry. The exponential Randić index of a graph G is defined as the sum of the weights e 1 d( u )d( v ) of all edges uv of G, where d( u ) denotes the degree of a vertex u in G. The paper mainly provides the upper and lower bounds of the exponential Randić index in quasi-tree graphs, and characterizes the extremal graphs when the bounds are achieved.展开更多
In this paper we construct, by using the theory of exponential dichotomies, a Melnikov-type function by which we can detect the existence of homoclinic orbits for the perturbed systems x = g(x) + epsilon h(t, x, epsil...In this paper we construct, by using the theory of exponential dichotomies, a Melnikov-type function by which we can detect the existence of homoclinic orbits for the perturbed systems x = g(x) + epsilon h(t, x, epsilon). Our result of this paper may be complementary to that of K.J.Palmer([3]).展开更多
For time-varying non-regressive linear dynamic equations on a time scale with bounded graininess, we introduce the concept of the associative operator with linear systems on time scales. The purpose of this research i...For time-varying non-regressive linear dynamic equations on a time scale with bounded graininess, we introduce the concept of the associative operator with linear systems on time scales. The purpose of this research is the characterizations of the exponential dichotomy obtained in terms of Fredholm property of that associative operator. Particularly, we use Perron’s method, which was generalized on time scales by J. Zhang, M. Fan, H. Zhu in?[1], to show that if the associative operator is semi-Fredholm then the corresponding linear nonautonomous equation has an exponential dichotomy on both?T?+?and?T-.??Moreover, we also give the converse result that the linear systems have?an exponential dichotomy on both?T?+?andT-??then the associative operator is Fredholm on?T.展开更多
In this paper, we investigate the homoclinic bifurcations from a heteroclinic cycle by using exponential dichotomies. We give a Melnikov—type condition assuring the existence of homoclinic orbits form heteroclinic cy...In this paper, we investigate the homoclinic bifurcations from a heteroclinic cycle by using exponential dichotomies. We give a Melnikov—type condition assuring the existence of homoclinic orbits form heteroclinic cycle. We improve some important results.展开更多
By looking at the situation when the coefficients Pj(z)(j=1,2,…,n-1)(or most of them) are exponential polynomials,we investigate the fact that all nontrivial solutions to higher order differential equations f((n))+Pn...By looking at the situation when the coefficients Pj(z)(j=1,2,…,n-1)(or most of them) are exponential polynomials,we investigate the fact that all nontrivial solutions to higher order differential equations f((n))+Pn-1(z)f((n-1))+…+P0(z)f=0 are of infinite order.An exponential polynomial coefficient plays a key role in these results.展开更多
In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathema...In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathematical model is divided into four classes using fractal parameters for COVID-19 dynamics,namely,susceptible(S),infected(I),treatment(T),and recovered(R).The main idea of the presented method is based on the matrix representations of the exponential functions and their derivatives using collocation points.To indicate the usefulness of this method,we employ it in some cases.For error analysis of the method,the residual of the solutions is reviewed.The reported examples show that the method is reasonably efficient and accurate.展开更多
In this study, a new four-parameter distribution called the Modi Exponentiated Exponential distribution was proposed and studied. The new distribution has three shape and one scale parameters. Its mathematical and sta...In this study, a new four-parameter distribution called the Modi Exponentiated Exponential distribution was proposed and studied. The new distribution has three shape and one scale parameters. Its mathematical and statistical properties were investigated. The parameters of the new model were estimated using the method of Maximum Likelihood Estimation. Monte Carlo simulation was used to evaluate the performance of the MLEs through average bias and RMSE. The flexibility and goodness-of-fit of the proposed distribution were demonstrated by applying it to two real data sets and comparing it with some existing distributions.展开更多
The Palu MW7.4 earthquake occurred on September 28, 2018, with the epicenter at 119.86°, 0.72°. The severe shaking caused severe damage in Central Sulawesi, especially in Palu. We conducted a postseismic def...The Palu MW7.4 earthquake occurred on September 28, 2018, with the epicenter at 119.86°, 0.72°. The severe shaking caused severe damage in Central Sulawesi, especially in Palu. We conducted a postseismic deformation study to determine the deformation pattern and reduce future earthquakes’ impact.Interferometric Synthetic Aperture Radar(In SAR) data were processed using Li CSBAS to get the time series. The time series data were fitted to exponential and logarithmic functions to determine the mechanism of postseismic deformation. The exponential model identified the influence of the viscoelastic mechanism, and the logarithm identified the afterslip mechanism. The Palu earthquake was fitted to logarithmic and exponential, but the logarithmic was more significant than an exponential function.Afterslip mechanism predominates, and viscoelastic mechanisms play a minor role in this postseismic deformation.展开更多
In this article,we consider a new family of exponential type estimators for estimating the unknown population mean of the study variable.We propose estimators taking advantage of the auxiliary variable information und...In this article,we consider a new family of exponential type estimators for estimating the unknown population mean of the study variable.We propose estimators taking advantage of the auxiliary variable information under the first and second non-response cases separately.The required theoretical comparisons are obtained and the numerical studies are conducted.In conclusion,the results show that the proposed family of estimators is the most efficient estimator with respect to the estimators in literature under the obtained conditions for both cases.展开更多
This paper proposes an improved exponential curvature-compensated bandgap reference circuit to exploit the exponential relationship between the current gainβof the bipolar junction transistor(BJT)and the temperature ...This paper proposes an improved exponential curvature-compensated bandgap reference circuit to exploit the exponential relationship between the current gainβof the bipolar junction transistor(BJT)and the temperature as well as reduce the influence of resistance-temperature dependency.Considering the degraded circuit performance caused by the process deviation,the trimmable module of the temperature coefficient(TC)is introduced to improve the circuit stability.The circuit has the advantages of simple structure,high linear stability,high TC accuracy,and trimmable TC.It consumes an area of 0.09 mm^(2)when fabricated by using the 0.25-μm complementary metal-oxide-semiconductor(CMOS)process.The proposed circuit achieves the simulated power supply rejection(PSR)of about-78.7 dB@1 kHz,the measured TC of~4.7 ppm/℃over a wide temperature range from-55℃to 125℃with the 2.5-V single-supply voltage,and the tested line regulation of 0.10 mV/V.Such a high-performance bandgap reference circuit can be widely applied in high-precision and high-reliability electronic systems.展开更多
The purpose of this paper is to present the class of atomic basis functions(ABFs)which are of exponential type and are denoted by EFupn(x,ω).While ABFs of the algebraic type are already represented in the numerical m...The purpose of this paper is to present the class of atomic basis functions(ABFs)which are of exponential type and are denoted by EFupn(x,ω).While ABFs of the algebraic type are already represented in the numerical modeling of various problems inmathematical physics and computationalmechanics,ABFs of the exponential type have not yet been sufficiently researched.These functions,unlike the ABFs of the algebraic type Fupn(x),contain the tension parameterω,which gives them additional approximation properties.Exponential monomials up to the nth degree can be described exactly by the linear combination of the functions EFupn(x,ω).The function EFupn for n=0 is called the“mother”ABF of the exponential type,i.e.,EFup0(x,ω)≡Eup(x,ω).In other words,the functions EFupn(x,ω)are elements of the linear vector space EUPn and retain all the properties of their“mother”function Eup(x,ω).Thus,this paper,in terms of its content and purpose,can be understood as a sequel of the article by Brajcic Kurbasa et al.,which shows the basic properties and application of the basis function Eup(x,ω).This paper presents,in an analogous way,the development and application of the exponential basis functions EFupn(x,ω).Here,for the first time,expressions for calculating the values of the functions EFupn(x,ω)and their derivatives are given in a form suitable for application in numerical analyses,which is shown in the verification examples of the approximations of known functions.展开更多
The present article mainly focuses on the fractional derivatives with an exponential kernel(“exponential fractional derivatives”for brevity).First,several extended integral transforms of the exponential fractional d...The present article mainly focuses on the fractional derivatives with an exponential kernel(“exponential fractional derivatives”for brevity).First,several extended integral transforms of the exponential fractional derivatives are proposed,including the Fourier transform and the Laplace transform.Then,the L2 discretisation for the exponential Caputo derivative with a∈(1,2)is established.The estimation of the truncation error and the properties of the coefficients are discussed.In addition,a numerical example is given to verify the correctness of the derived L2 discrete formula.展开更多
This paper deals with the numerical implementation of the exponential Drucker-Parger plasticitymodel in the commercial finite element software,ABAQUS,via user subroutine UMAT for adhesive joint simulations.The influen...This paper deals with the numerical implementation of the exponential Drucker-Parger plasticitymodel in the commercial finite element software,ABAQUS,via user subroutine UMAT for adhesive joint simulations.The influence of hydrostatic pressure on adhesive strength was investigated by a modified Arcan fixture designed particularly to induce a different state of hydrostatic pressure within an adhesive layer.The developed user subroutine UMAT,which utilizes an associated plastic flow during a plastic deformation,can provide a good agreement between the simulations and the experimental data.Better numerical stability at highly positive hydrostatic pressure loads for a very high order of exponential function can also be achieved compared to when a non-associated flow is used.展开更多
In this paper,the non-harmonic resonance of Bernoulli viscoelastic beams,Kirchhoff viscoelastic plates,Timoshenko viscoelastic beams,and Mindlin viscoelastic plates subjected to time-dependent exponentially decreasing...In this paper,the non-harmonic resonance of Bernoulli viscoelastic beams,Kirchhoff viscoelastic plates,Timoshenko viscoelastic beams,and Mindlin viscoelastic plates subjected to time-dependent exponentially decreasing transverse distributed load is investigated for the first time.The constitutive equations are expressed utilizing Boltzmann integral law with a constant bulk modulus.The displacement vector is approximated by employing the separation of variables method.The Laplace transformation is used to transfer equations from the time domain to the Laplace domain and vice versa.The novel point of the proposed method is to express,prove and calculate the critical time in which the displacement will be several times the displacement at time zero.In addition,this new method calculates the maximum deflection at the critical time,explicitly and exactly,without any need to follow the time-displacement curve with a low computational cost.Additionally,the proposed method introduces the critical range of time so that the responses are greater than the responses at time zero.展开更多
针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实...针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实现高精度的参数辨识,提出了一种二次辨识方法,先利用改进灰狼优化算法(Improved grey wolf optimizer, IGWO)实现运动学参数误差的粗辨识,初步将Staubli TX60型机器人的平均位置误差和平均姿态误差分别从(0.648 mm, 0.212°)降低为(0.457 mm, 0.166°);为进一步提高机器人的精度性能,再通过LM(Levenberg-Marquard)算法进行参数误差的精辨识,最终将Staubli TX60型机器人平均位置误差和平均姿态误差进一步降低为(0.237 mm, 0.063°),机器人平均位置误差和平均姿态误差分别降低63.4%和70.2%。为了验证上述二次辨识方法的稳定性,随机选取5组辨识数据集和验证数据集进行POE误差模型的参数误差辨识,结果表明提出的二次辨识方法能够稳定、精确地辨识工业机器人运动学参数误差。展开更多
文摘This contribution is dedicated to the celebration of Rémi Abgrall’s accomplishments in Applied Mathematics and Scientific Computing during the conference“Essentially Hyperbolic Problems:Unconventional Numerics,and Applications”.With respect to classical Finite Elements Methods,Trefftz methods are unconventional methods because of the way the basis functions are generated.Trefftz discontinuous Galerkin(TDG)methods have recently shown potential for numerical approximation of transport equations[6,26]with vectorial exponential modes.This paper focuses on a proof of the approximation properties of these exponential solutions.We show that vectorial exponential functions can achieve high order convergence.The fundamental part of the proof consists in proving that a certain rectangular matrix has maximal rank.
基金part supported by the NSF Grants DMS-1912654 and DMS 2205590。
文摘We provide a concise review of the exponentially convergent multiscale finite element method(ExpMsFEM)for efficient model reduction of PDEs in heterogeneous media without scale separation and in high-frequency wave propagation.The ExpMsFEM is built on the non-overlapped domain decomposition in the classical MsFEM while enriching the approximation space systematically to achieve a nearly exponential convergence rate regarding the number of basis functions.Unlike most generalizations of the MsFEM in the literature,the ExpMsFEM does not rely on any partition of unity functions.In general,it is necessary to use function representations dependent on the right-hand side to break the algebraic Kolmogorov n-width barrier to achieve exponential convergence.Indeed,there are online and offline parts in the function representation provided by the ExpMsFEM.The online part depends on the right-hand side locally and can be computed in parallel efficiently.The offline part contains basis functions that are used in the Galerkin method to assemble the stiffness matrix;they are all independent of the right-hand side,so the stiffness matrix can be used repeatedly in multi-query scenarios.
文摘The exponential Randić index has important applications in the fields of biology and chemistry. The exponential Randić index of a graph G is defined as the sum of the weights e 1 d( u )d( v ) of all edges uv of G, where d( u ) denotes the degree of a vertex u in G. The paper mainly provides the upper and lower bounds of the exponential Randić index in quasi-tree graphs, and characterizes the extremal graphs when the bounds are achieved.
文摘In this paper we construct, by using the theory of exponential dichotomies, a Melnikov-type function by which we can detect the existence of homoclinic orbits for the perturbed systems x = g(x) + epsilon h(t, x, epsilon). Our result of this paper may be complementary to that of K.J.Palmer([3]).
文摘For time-varying non-regressive linear dynamic equations on a time scale with bounded graininess, we introduce the concept of the associative operator with linear systems on time scales. The purpose of this research is the characterizations of the exponential dichotomy obtained in terms of Fredholm property of that associative operator. Particularly, we use Perron’s method, which was generalized on time scales by J. Zhang, M. Fan, H. Zhu in?[1], to show that if the associative operator is semi-Fredholm then the corresponding linear nonautonomous equation has an exponential dichotomy on both?T?+?and?T-.??Moreover, we also give the converse result that the linear systems have?an exponential dichotomy on both?T?+?andT-??then the associative operator is Fredholm on?T.
文摘In this paper, we investigate the homoclinic bifurcations from a heteroclinic cycle by using exponential dichotomies. We give a Melnikov—type condition assuring the existence of homoclinic orbits form heteroclinic cycle. We improve some important results.
基金supported partly by the National Natural Science Foundation of China(12171050,11871260)National Science Foundation of Guangdong Province(2018A030313508)。
文摘By looking at the situation when the coefficients Pj(z)(j=1,2,…,n-1)(or most of them) are exponential polynomials,we investigate the fact that all nontrivial solutions to higher order differential equations f((n))+Pn-1(z)f((n-1))+…+P0(z)f=0 are of infinite order.An exponential polynomial coefficient plays a key role in these results.
文摘In this work,the exponential approximation is used for the numerical simulation of a nonlinear SITR model as a system of differential equations that shows the dynamics of the new coronavirus(COVID-19).The SITR mathematical model is divided into four classes using fractal parameters for COVID-19 dynamics,namely,susceptible(S),infected(I),treatment(T),and recovered(R).The main idea of the presented method is based on the matrix representations of the exponential functions and their derivatives using collocation points.To indicate the usefulness of this method,we employ it in some cases.For error analysis of the method,the residual of the solutions is reviewed.The reported examples show that the method is reasonably efficient and accurate.
文摘In this study, a new four-parameter distribution called the Modi Exponentiated Exponential distribution was proposed and studied. The new distribution has three shape and one scale parameters. Its mathematical and statistical properties were investigated. The parameters of the new model were estimated using the method of Maximum Likelihood Estimation. Monte Carlo simulation was used to evaluate the performance of the MLEs through average bias and RMSE. The flexibility and goodness-of-fit of the proposed distribution were demonstrated by applying it to two real data sets and comparing it with some existing distributions.
基金partially supported by UGM’s Social Fund in the scheme of the RTA Project 2022
文摘The Palu MW7.4 earthquake occurred on September 28, 2018, with the epicenter at 119.86°, 0.72°. The severe shaking caused severe damage in Central Sulawesi, especially in Palu. We conducted a postseismic deformation study to determine the deformation pattern and reduce future earthquakes’ impact.Interferometric Synthetic Aperture Radar(In SAR) data were processed using Li CSBAS to get the time series. The time series data were fitted to exponential and logarithmic functions to determine the mechanism of postseismic deformation. The exponential model identified the influence of the viscoelastic mechanism, and the logarithm identified the afterslip mechanism. The Palu earthquake was fitted to logarithmic and exponential, but the logarithmic was more significant than an exponential function.Afterslip mechanism predominates, and viscoelastic mechanisms play a minor role in this postseismic deformation.
文摘In this article,we consider a new family of exponential type estimators for estimating the unknown population mean of the study variable.We propose estimators taking advantage of the auxiliary variable information under the first and second non-response cases separately.The required theoretical comparisons are obtained and the numerical studies are conducted.In conclusion,the results show that the proposed family of estimators is the most efficient estimator with respect to the estimators in literature under the obtained conditions for both cases.
文摘This paper proposes an improved exponential curvature-compensated bandgap reference circuit to exploit the exponential relationship between the current gainβof the bipolar junction transistor(BJT)and the temperature as well as reduce the influence of resistance-temperature dependency.Considering the degraded circuit performance caused by the process deviation,the trimmable module of the temperature coefficient(TC)is introduced to improve the circuit stability.The circuit has the advantages of simple structure,high linear stability,high TC accuracy,and trimmable TC.It consumes an area of 0.09 mm^(2)when fabricated by using the 0.25-μm complementary metal-oxide-semiconductor(CMOS)process.The proposed circuit achieves the simulated power supply rejection(PSR)of about-78.7 dB@1 kHz,the measured TC of~4.7 ppm/℃over a wide temperature range from-55℃to 125℃with the 2.5-V single-supply voltage,and the tested line regulation of 0.10 mV/V.Such a high-performance bandgap reference circuit can be widely applied in high-precision and high-reliability electronic systems.
基金supported through Project KK.01.1.1.02.0027a project co-financed by the Croatian Government and the European Union through the European Regional Development Fund-the Competitiveness and Cohesion Operational Programme.
文摘The purpose of this paper is to present the class of atomic basis functions(ABFs)which are of exponential type and are denoted by EFupn(x,ω).While ABFs of the algebraic type are already represented in the numerical modeling of various problems inmathematical physics and computationalmechanics,ABFs of the exponential type have not yet been sufficiently researched.These functions,unlike the ABFs of the algebraic type Fupn(x),contain the tension parameterω,which gives them additional approximation properties.Exponential monomials up to the nth degree can be described exactly by the linear combination of the functions EFupn(x,ω).The function EFupn for n=0 is called the“mother”ABF of the exponential type,i.e.,EFup0(x,ω)≡Eup(x,ω).In other words,the functions EFupn(x,ω)are elements of the linear vector space EUPn and retain all the properties of their“mother”function Eup(x,ω).Thus,this paper,in terms of its content and purpose,can be understood as a sequel of the article by Brajcic Kurbasa et al.,which shows the basic properties and application of the basis function Eup(x,ω).This paper presents,in an analogous way,the development and application of the exponential basis functions EFupn(x,ω).Here,for the first time,expressions for calculating the values of the functions EFupn(x,ω)and their derivatives are given in a form suitable for application in numerical analyses,which is shown in the verification examples of the approximations of known functions.
文摘The present article mainly focuses on the fractional derivatives with an exponential kernel(“exponential fractional derivatives”for brevity).First,several extended integral transforms of the exponential fractional derivatives are proposed,including the Fourier transform and the Laplace transform.Then,the L2 discretisation for the exponential Caputo derivative with a∈(1,2)is established.The estimation of the truncation error and the properties of the coefficients are discussed.In addition,a numerical example is given to verify the correctness of the derived L2 discrete formula.
基金funded by King Mongkut’s University of Technology North Bangkok.Contract No.KMUTNB-PHD-62-07.
文摘This paper deals with the numerical implementation of the exponential Drucker-Parger plasticitymodel in the commercial finite element software,ABAQUS,via user subroutine UMAT for adhesive joint simulations.The influence of hydrostatic pressure on adhesive strength was investigated by a modified Arcan fixture designed particularly to induce a different state of hydrostatic pressure within an adhesive layer.The developed user subroutine UMAT,which utilizes an associated plastic flow during a plastic deformation,can provide a good agreement between the simulations and the experimental data.Better numerical stability at highly positive hydrostatic pressure loads for a very high order of exponential function can also be achieved compared to when a non-associated flow is used.
文摘In this paper,the non-harmonic resonance of Bernoulli viscoelastic beams,Kirchhoff viscoelastic plates,Timoshenko viscoelastic beams,and Mindlin viscoelastic plates subjected to time-dependent exponentially decreasing transverse distributed load is investigated for the first time.The constitutive equations are expressed utilizing Boltzmann integral law with a constant bulk modulus.The displacement vector is approximated by employing the separation of variables method.The Laplace transformation is used to transfer equations from the time domain to the Laplace domain and vice versa.The novel point of the proposed method is to express,prove and calculate the critical time in which the displacement will be several times the displacement at time zero.In addition,this new method calculates the maximum deflection at the critical time,explicitly and exactly,without any need to follow the time-displacement curve with a low computational cost.Additionally,the proposed method introduces the critical range of time so that the responses are greater than the responses at time zero.
文摘针对工业机器人在高度制造领域精度不高的问题,本文提出了一种基于POE模型的工业机器人运动学参数二次辨识方法。阐述了基于指数积(Product of exponential, POE)模型的运动学误差模型构建方法,并建立基于POE误差模型的适应度函数;为实现高精度的参数辨识,提出了一种二次辨识方法,先利用改进灰狼优化算法(Improved grey wolf optimizer, IGWO)实现运动学参数误差的粗辨识,初步将Staubli TX60型机器人的平均位置误差和平均姿态误差分别从(0.648 mm, 0.212°)降低为(0.457 mm, 0.166°);为进一步提高机器人的精度性能,再通过LM(Levenberg-Marquard)算法进行参数误差的精辨识,最终将Staubli TX60型机器人平均位置误差和平均姿态误差进一步降低为(0.237 mm, 0.063°),机器人平均位置误差和平均姿态误差分别降低63.4%和70.2%。为了验证上述二次辨识方法的稳定性,随机选取5组辨识数据集和验证数据集进行POE误差模型的参数误差辨识,结果表明提出的二次辨识方法能够稳定、精确地辨识工业机器人运动学参数误差。