The meshless weighted least-square (MWLS) method was developed based on the weighted least-square method. The method possesses several advantages, such as high accuracy, high stability and high e?ciency. Moreover, t...The meshless weighted least-square (MWLS) method was developed based on the weighted least-square method. The method possesses several advantages, such as high accuracy, high stability and high e?ciency. Moreover, the coe?cient matrix obtained is symmetric and semi- positive de?nite. In this paper, the method is further examined critically. The e?ects of several parameters on the results of MWLS are investigated systematically by using a cantilever beam and an in?nite plate with a central circular hole. The numerical results are compared with those obtained by using the collocation-based meshless method (CBMM) and Galerkin-based meshless method (GBMM). The investigated parameters include the type of approximations, the type of weight functions, the number of neighbors of an evaluation point, as well as the manner in which the neighbors of an evaluation point are determined. This study shows that the displacement accuracy and convergence rate obtained by MWLS is comparable to that of the GBMM while the stress accuracy and convergence rate yielded by MWLS is even higher than that of GBMM. Furthermore, MWLS is much more e?cient than GBMM. This study also shows that the instability of CBMM is mainly due to the neglect of the equi- librium residuals at boundary nodes. In MWLS, the residuals of all the governing equations are minimized in a weighted least-square sense.展开更多
A global interpolating meshless shape function based on the generalized moving least-square (GMLS) is formulated by the transformation technique. Both the shape function and its derivatives meet the Kronecker delta ...A global interpolating meshless shape function based on the generalized moving least-square (GMLS) is formulated by the transformation technique. Both the shape function and its derivatives meet the Kronecker delta function property. With the interpolating GMLS (IGMLS) shape function, an improved element-free Galerkin (EFG) method is proposed for the structural dynamic analysis. Compared with the conven- tional EFG method, the obvious advantage of the proposed method is that the essential boundary conditions including both displacements and derivatives can be imposed by the straightforward way. Meanwhile, it can greatly improve the ill-condition feature of the standard GMLS approximation, and provide good accuracy at low cost. The dynamic analyses of the Euler beam and Kirchhoff plate are performed to demonstrate the feasi- bility and effectiveness of the improved method. The comparison between the numerical results of the conventional method and the improved method shows that the proposed method has better stability, higher accuracy, and less time consumption.展开更多
Mechanically durable transparent electrodes are essential for achieving long-term stability in flexible optoelectronic devices.Furthermore,they are crucial for applications in the fields of energy,display,healthcare,a...Mechanically durable transparent electrodes are essential for achieving long-term stability in flexible optoelectronic devices.Furthermore,they are crucial for applications in the fields of energy,display,healthcare,and soft robotics.Conducting meshes represent a promising alternative to traditional,brittle,metal oxide conductors due to their high electrical conductivity,optical transparency,and enhanced mechanical flexibility.In this paper,we present a simple method for fabricating an ultra-transparent conducting metal oxide mesh electrode using selfcracking-assisted templates.Using this method,we produced an electrode with ultra-transparency(97.39%),high conductance(Rs=21.24Ωsq^(−1)),elevated work function(5.16 eV),and good mechanical stability.We also evaluated the effectiveness of the fabricated electrodes by integrating them into organic photovoltaics,organic light-emitting diodes,and flexible transparent memristor devices for neuromorphic computing,resulting in exceptional device performance.In addition,the unique porous structure of the vanadium-doped indium zinc oxide mesh electrodes provided excellent flexibility,rendering them a promising option for application in flexible optoelectronics.展开更多
无线Mesh网络(Wireless Mesh network, WMN)中,链路拥塞会导致较长的传输时延和排队时间,因此将链路负载均衡与服务质量结合起来一直是研究热点.本文针对多目标路由优化管理的关键问题,将路由问题表述为整数线性规划(Integer linear pro...无线Mesh网络(Wireless Mesh network, WMN)中,链路拥塞会导致较长的传输时延和排队时间,因此将链路负载均衡与服务质量结合起来一直是研究热点.本文针对多目标路由优化管理的关键问题,将路由问题表述为整数线性规划(Integer linear programming, ILP)模型,并将无线Mesh网络与软件定义网络(Software defined network, SDN)结合,设计了适应于SD-WMN架构的多目标函数、约束条件以及整体的网络优化模型,此外,由于该整数线性规划模型是NP完全的,本文将改进的人工蜂群的启发式优化算法引入到路由优化算法中,以获得源节点和目的节点之间传输流量的理想路径.本文所提出方法在Mininet网络模拟工具中的仿真结果证明了该算法的有效性,与OSPF、SDNR以及遗传蚁群优化(G-ACO)相比,所提出方法在丢包率、往返时间和负载均衡方面均有不错的改善.展开更多
Simultaneous-source acquisition has been recog- nized as an economic and efficient acquisition method, but the direct imaging of the simultaneous-source data produces migration artifacts because of the interference of...Simultaneous-source acquisition has been recog- nized as an economic and efficient acquisition method, but the direct imaging of the simultaneous-source data produces migration artifacts because of the interference of adjacent sources. To overcome this problem, we propose the regularized least-squares reverse time migration method (RLSRTM) using the singular spectrum analysis technique that imposes sparseness constraints on the inverted model. Additionally, the difference spectrum theory of singular values is presented so that RLSRTM can be implemented adaptively to eliminate the migration artifacts. With numerical tests on a fiat layer model and a Marmousi model, we validate the superior imaging quality, efficiency and convergence of RLSRTM compared with LSRTM when dealing with simultaneoussource data, incomplete data and noisy data.展开更多
Detecting plant health conditions plays a key role in farm pest management and crop protection. In this study, measurement of hyperspectral leaf reflectance in rice crop (Oryzasativa L.) was conducted on groups of hea...Detecting plant health conditions plays a key role in farm pest management and crop protection. In this study, measurement of hyperspectral leaf reflectance in rice crop (Oryzasativa L.) was conducted on groups of healthy and infected leaves by the fungus Bipolaris oryzae (Helminthosporium oryzae Breda. de Hann) through the wavelength range from 350 to 2 500 nm. The percentage of leaf surface lesions was estimated and defined as the disease severity. Statistical methods like multiple stepwise regression, principal component analysis and partial least-square regression were utilized to calculate and estimate the disease severity of rice brown spot at the leaf level. Our results revealed that multiple stepwise linear regressions could efficiently estimate disease severity with three wavebands in seven steps. The root mean square errors (RMSEs) for training (n=210) and testing (n=53) dataset were 6.5% and 5.8%, respectively. Principal component analysis showed that the first principal component could explain approximately 80% of the variance of the original hyperspectral reflectance. The regression model with the first two principal components predicted a disease severity with RMSEs of 16.3% and 13.9% for the training and testing dataset, respec-tively. Partial least-square regression with seven extracted factors could most effectively predict disease severity compared with other statistical methods with RMSEs of 4.1% and 2.0% for the training and testing dataset, respectively. Our research demon-strates that it is feasible to estimate the disease severity of rice brown spot using hyperspectral reflectance data at the leaf level.展开更多
To obtain higher accurate position estimates, the stochastic model is estimated by using residual of observations, hence, the stochastic model describes the noise and bias in measurements more realistically. By using ...To obtain higher accurate position estimates, the stochastic model is estimated by using residual of observations, hence, the stochastic model describes the noise and bias in measurements more realistically. By using GPS data and broadcast ephemeris, the numerical results indicating the accurate position estimates at sub-meter level are obtainable.展开更多
Mixed-weight least-squares (MWLS) predictive control algorithm, compared with quadratic programming (QP) method, has the advantages of reducing the computer burden, quick calculation speed and dealing with the case in...Mixed-weight least-squares (MWLS) predictive control algorithm, compared with quadratic programming (QP) method, has the advantages of reducing the computer burden, quick calculation speed and dealing with the case in which the optimization is infeasible. But it can only deal with soft constraints. In order to deal with hard constraints and guarantee feasibility, an improved algorithm is proposed by recalculating the setpoint according to the hard constraints before calculating the manipulated variable and MWLS algorithm is used to satisfy the requirement of soft constraints for the system with the input constraints and output constraints. The algorithm can not only guarantee stability of the system and zero steady state error, but also satisfy the hard constraints of input and output variables. The simulation results show the improved algorithm is feasible and effective.展开更多
The technology of simultaneous-source acquisition of seismic data excited by several sources can significantly improve the data collection efficiency. However, direct imaging of simultaneous-source data or blended dat...The technology of simultaneous-source acquisition of seismic data excited by several sources can significantly improve the data collection efficiency. However, direct imaging of simultaneous-source data or blended data may introduce crosstalk noise and affect the imaging quality. To address this problem, we introduce a structure-oriented filtering operator as preconditioner into the multisource least-squares reverse-time migration (LSRTM). The structure-oriented filtering operator is a nonstationary filter along structural trends that suppresses crosstalk noise while maintaining structural information. The proposed method uses the conjugate-gradient method to minimize the mismatch between predicted and observed data, while effectively attenuating the interference noise caused by exciting several sources simultaneously. Numerical experiments using synthetic data suggest that the proposed method can suppress the crosstalk noise and produce highly accurate images.展开更多
The full-spectrum least-squares(FSLS) method is introduced to perform quantitative energy-dispersive X-ray fluorescence analysis for unknown solid samples.Based on the conventional least-squares principle, this spectr...The full-spectrum least-squares(FSLS) method is introduced to perform quantitative energy-dispersive X-ray fluorescence analysis for unknown solid samples.Based on the conventional least-squares principle, this spectrum evaluation method is able to obtain the background-corrected and interference-free net peaks, which is significant for quantization analyses. A variety of analytical parameters and functions to describe the features of the fluorescence spectra of pure elements are used and established, such as the mass absorption coefficient, the Gi factor, and fundamental fluorescence formulas. The FSLS iterative program was compiled in the C language. The content of each component should reach the convergence criterion at the end of the calculations. After a basic theory analysis and experimental preparation, 13 national standard soil samples were detected using a spectrometer to test the feasibility of using the algorithm. The results show that the calculated contents of Ti, Fe, Ni, Cu, and Zn have the same changing tendency as the corresponding standard content in the 13 reference samples. Accuracies of 0.35% and 14.03% are obtained, respectively, for Fe and Ti, whose standard concentrations are 8.82% and 0.578%, respectively. However, the calculated results of trace elements (only tens of lg/g) deviate from the standard values. This may be because of measurement accuracy and mutual effects between the elements.展开更多
The main purpose of reverse engineering is to convert discrete data pointsinto piecewise smooth, continuous surface models. Before carrying out model reconstruction it issignificant to extract geometric features becau...The main purpose of reverse engineering is to convert discrete data pointsinto piecewise smooth, continuous surface models. Before carrying out model reconstruction it issignificant to extract geometric features because the quality of modeling greatly depends on therepresentation of features. Some fitting techniques of natural quadric surfaces with least-squaresmethod are described. And these techniques can be directly used to extract quadric surfaces featuresduring the process of segmentation for point cloud.展开更多
A least-squares finite-element method (LSFEM) for the non-conservative shallow-water equations is presented. The model is capable of handling complex topography, steady and unsteady flows, subcritical and supercriti...A least-squares finite-element method (LSFEM) for the non-conservative shallow-water equations is presented. The model is capable of handling complex topography, steady and unsteady flows, subcritical and supercritical flows, and flows with smooth and sharp gradient changes. Advantages of the model include: (1) sources terms, such as the bottom slope, surface stresses and bed frictions, can be treated easily without any special treatment; (2) upwind scheme is no needed; (3) a single approximating space can be used for all variables, and its choice of approximating space is not subject to the Ladyzhenskaya-Babuska-Brezzi (LBB) condition; and (4) the resulting system of equations is symmetric and positive-definite (SPD) which can be solved efficiently with the preconditioned conjugate gradient method. The model is verified with flow over a bump, tide induced flow, and dam-break. Computed results are compared with analytic solutions or other numerical results, and show the model is conservative and accurate. The model is then used to simulate flow past a circular cylinder. Important flow charac-teristics, such as variation of water surface around the cylinder and vortex shedding behind the cylinder are investigated. Computed results compare well with experiment data and other numerical results.展开更多
We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators ar...We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties.Using conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic instabilities.Therefore,system uncertainties need to be estimated through designing a computationally efficient adaptive control law.We focus on robot manipulators as an example of a highly nonlinear system.As a case study,a 2-DOF manipulator subject to four parametric uncertainties is investigated.First,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown parameters.For a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters'estimations.Finally,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.展开更多
基金Project supported by the National Natural Science Foundation of China (No.10172052).
文摘The meshless weighted least-square (MWLS) method was developed based on the weighted least-square method. The method possesses several advantages, such as high accuracy, high stability and high e?ciency. Moreover, the coe?cient matrix obtained is symmetric and semi- positive de?nite. In this paper, the method is further examined critically. The e?ects of several parameters on the results of MWLS are investigated systematically by using a cantilever beam and an in?nite plate with a central circular hole. The numerical results are compared with those obtained by using the collocation-based meshless method (CBMM) and Galerkin-based meshless method (GBMM). The investigated parameters include the type of approximations, the type of weight functions, the number of neighbors of an evaluation point, as well as the manner in which the neighbors of an evaluation point are determined. This study shows that the displacement accuracy and convergence rate obtained by MWLS is comparable to that of the GBMM while the stress accuracy and convergence rate yielded by MWLS is even higher than that of GBMM. Furthermore, MWLS is much more e?cient than GBMM. This study also shows that the instability of CBMM is mainly due to the neglect of the equi- librium residuals at boundary nodes. In MWLS, the residuals of all the governing equations are minimized in a weighted least-square sense.
基金Project supported by the National Natural Science Foundation of China(No.11176035)
文摘A global interpolating meshless shape function based on the generalized moving least-square (GMLS) is formulated by the transformation technique. Both the shape function and its derivatives meet the Kronecker delta function property. With the interpolating GMLS (IGMLS) shape function, an improved element-free Galerkin (EFG) method is proposed for the structural dynamic analysis. Compared with the conven- tional EFG method, the obvious advantage of the proposed method is that the essential boundary conditions including both displacements and derivatives can be imposed by the straightforward way. Meanwhile, it can greatly improve the ill-condition feature of the standard GMLS approximation, and provide good accuracy at low cost. The dynamic analyses of the Euler beam and Kirchhoff plate are performed to demonstrate the feasi- bility and effectiveness of the improved method. The comparison between the numerical results of the conventional method and the improved method shows that the proposed method has better stability, higher accuracy, and less time consumption.
基金supported by a National Research Foundation of Korea(NRF)grant(No.2016R1A3B 1908249)funded by the Korean government.
文摘Mechanically durable transparent electrodes are essential for achieving long-term stability in flexible optoelectronic devices.Furthermore,they are crucial for applications in the fields of energy,display,healthcare,and soft robotics.Conducting meshes represent a promising alternative to traditional,brittle,metal oxide conductors due to their high electrical conductivity,optical transparency,and enhanced mechanical flexibility.In this paper,we present a simple method for fabricating an ultra-transparent conducting metal oxide mesh electrode using selfcracking-assisted templates.Using this method,we produced an electrode with ultra-transparency(97.39%),high conductance(Rs=21.24Ωsq^(−1)),elevated work function(5.16 eV),and good mechanical stability.We also evaluated the effectiveness of the fabricated electrodes by integrating them into organic photovoltaics,organic light-emitting diodes,and flexible transparent memristor devices for neuromorphic computing,resulting in exceptional device performance.In addition,the unique porous structure of the vanadium-doped indium zinc oxide mesh electrodes provided excellent flexibility,rendering them a promising option for application in flexible optoelectronics.
文摘无线Mesh网络(Wireless Mesh network, WMN)中,链路拥塞会导致较长的传输时延和排队时间,因此将链路负载均衡与服务质量结合起来一直是研究热点.本文针对多目标路由优化管理的关键问题,将路由问题表述为整数线性规划(Integer linear programming, ILP)模型,并将无线Mesh网络与软件定义网络(Software defined network, SDN)结合,设计了适应于SD-WMN架构的多目标函数、约束条件以及整体的网络优化模型,此外,由于该整数线性规划模型是NP完全的,本文将改进的人工蜂群的启发式优化算法引入到路由优化算法中,以获得源节点和目的节点之间传输流量的理想路径.本文所提出方法在Mininet网络模拟工具中的仿真结果证明了该算法的有效性,与OSPF、SDNR以及遗传蚁群优化(G-ACO)相比,所提出方法在丢包率、往返时间和负载均衡方面均有不错的改善.
基金financial support from the National Natural Science Foundation of China (Grant Nos. 41104069, 41274124)National Key Basic Research Program of China (973 Program) (Grant No. 2014CB239006)+2 种基金National Science and Technology Major Project (Grant No. 2011ZX05014-001-008)the Open Foundation of SINOPEC Key Laboratory of Geophysics (Grant No. 33550006-15-FW2099-0033)the Fundamental Research Funds for the Central Universities (Grant No. 16CX06046A)
文摘Simultaneous-source acquisition has been recog- nized as an economic and efficient acquisition method, but the direct imaging of the simultaneous-source data produces migration artifacts because of the interference of adjacent sources. To overcome this problem, we propose the regularized least-squares reverse time migration method (RLSRTM) using the singular spectrum analysis technique that imposes sparseness constraints on the inverted model. Additionally, the difference spectrum theory of singular values is presented so that RLSRTM can be implemented adaptively to eliminate the migration artifacts. With numerical tests on a fiat layer model and a Marmousi model, we validate the superior imaging quality, efficiency and convergence of RLSRTM compared with LSRTM when dealing with simultaneoussource data, incomplete data and noisy data.
基金the Hi-Tech Research and Development Program (863) of China (No. 2006AA10Z203)the National Scienceand Technology Task Force Project (No. 2006BAD10A01), China
文摘Detecting plant health conditions plays a key role in farm pest management and crop protection. In this study, measurement of hyperspectral leaf reflectance in rice crop (Oryzasativa L.) was conducted on groups of healthy and infected leaves by the fungus Bipolaris oryzae (Helminthosporium oryzae Breda. de Hann) through the wavelength range from 350 to 2 500 nm. The percentage of leaf surface lesions was estimated and defined as the disease severity. Statistical methods like multiple stepwise regression, principal component analysis and partial least-square regression were utilized to calculate and estimate the disease severity of rice brown spot at the leaf level. Our results revealed that multiple stepwise linear regressions could efficiently estimate disease severity with three wavebands in seven steps. The root mean square errors (RMSEs) for training (n=210) and testing (n=53) dataset were 6.5% and 5.8%, respectively. Principal component analysis showed that the first principal component could explain approximately 80% of the variance of the original hyperspectral reflectance. The regression model with the first two principal components predicted a disease severity with RMSEs of 16.3% and 13.9% for the training and testing dataset, respec-tively. Partial least-square regression with seven extracted factors could most effectively predict disease severity compared with other statistical methods with RMSEs of 4.1% and 2.0% for the training and testing dataset, respectively. Our research demon-strates that it is feasible to estimate the disease severity of rice brown spot using hyperspectral reflectance data at the leaf level.
基金Supported by the National 863 Program of China (No.2006AA12Z325) and the National Natural Science Foundation of China (No.40274005).
文摘To obtain higher accurate position estimates, the stochastic model is estimated by using residual of observations, hence, the stochastic model describes the noise and bias in measurements more realistically. By using GPS data and broadcast ephemeris, the numerical results indicating the accurate position estimates at sub-meter level are obtainable.
基金National Key Basic Research and Development(No.2002CB312200)
文摘Mixed-weight least-squares (MWLS) predictive control algorithm, compared with quadratic programming (QP) method, has the advantages of reducing the computer burden, quick calculation speed and dealing with the case in which the optimization is infeasible. But it can only deal with soft constraints. In order to deal with hard constraints and guarantee feasibility, an improved algorithm is proposed by recalculating the setpoint according to the hard constraints before calculating the manipulated variable and MWLS algorithm is used to satisfy the requirement of soft constraints for the system with the input constraints and output constraints. The algorithm can not only guarantee stability of the system and zero steady state error, but also satisfy the hard constraints of input and output variables. The simulation results show the improved algorithm is feasible and effective.
基金supported by the National Natural Science Foundation of China(Nos.41374122 and 41504100)
文摘The technology of simultaneous-source acquisition of seismic data excited by several sources can significantly improve the data collection efficiency. However, direct imaging of simultaneous-source data or blended data may introduce crosstalk noise and affect the imaging quality. To address this problem, we introduce a structure-oriented filtering operator as preconditioner into the multisource least-squares reverse-time migration (LSRTM). The structure-oriented filtering operator is a nonstationary filter along structural trends that suppresses crosstalk noise while maintaining structural information. The proposed method uses the conjugate-gradient method to minimize the mismatch between predicted and observed data, while effectively attenuating the interference noise caused by exciting several sources simultaneously. Numerical experiments using synthetic data suggest that the proposed method can suppress the crosstalk noise and produce highly accurate images.
基金supported by the National Key R&D Project of China(No.2017YFC0602100)the National Natural Science Foundation of China(No.41774147)Sichuan Science and Technology Support Program(No.2015GZ0272)
文摘The full-spectrum least-squares(FSLS) method is introduced to perform quantitative energy-dispersive X-ray fluorescence analysis for unknown solid samples.Based on the conventional least-squares principle, this spectrum evaluation method is able to obtain the background-corrected and interference-free net peaks, which is significant for quantization analyses. A variety of analytical parameters and functions to describe the features of the fluorescence spectra of pure elements are used and established, such as the mass absorption coefficient, the Gi factor, and fundamental fluorescence formulas. The FSLS iterative program was compiled in the C language. The content of each component should reach the convergence criterion at the end of the calculations. After a basic theory analysis and experimental preparation, 13 national standard soil samples were detected using a spectrometer to test the feasibility of using the algorithm. The results show that the calculated contents of Ti, Fe, Ni, Cu, and Zn have the same changing tendency as the corresponding standard content in the 13 reference samples. Accuracies of 0.35% and 14.03% are obtained, respectively, for Fe and Ti, whose standard concentrations are 8.82% and 0.578%, respectively. However, the calculated results of trace elements (only tens of lg/g) deviate from the standard values. This may be because of measurement accuracy and mutual effects between the elements.
基金This project is supported by Research Foundation for Doctoral Program of Higher Education, China (No.98033532)
文摘The main purpose of reverse engineering is to convert discrete data pointsinto piecewise smooth, continuous surface models. Before carrying out model reconstruction it issignificant to extract geometric features because the quality of modeling greatly depends on therepresentation of features. Some fitting techniques of natural quadric surfaces with least-squaresmethod are described. And these techniques can be directly used to extract quadric surfaces featuresduring the process of segmentation for point cloud.
基金the National Science Council ot Taiwan,China for funding this research(Project no.:NSC 94-2218-E-035-011)
文摘A least-squares finite-element method (LSFEM) for the non-conservative shallow-water equations is presented. The model is capable of handling complex topography, steady and unsteady flows, subcritical and supercritical flows, and flows with smooth and sharp gradient changes. Advantages of the model include: (1) sources terms, such as the bottom slope, surface stresses and bed frictions, can be treated easily without any special treatment; (2) upwind scheme is no needed; (3) a single approximating space can be used for all variables, and its choice of approximating space is not subject to the Ladyzhenskaya-Babuska-Brezzi (LBB) condition; and (4) the resulting system of equations is symmetric and positive-definite (SPD) which can be solved efficiently with the preconditioned conjugate gradient method. The model is verified with flow over a bump, tide induced flow, and dam-break. Computed results are compared with analytic solutions or other numerical results, and show the model is conservative and accurate. The model is then used to simulate flow past a circular cylinder. Important flow charac-teristics, such as variation of water surface around the cylinder and vortex shedding behind the cylinder are investigated. Computed results compare well with experiment data and other numerical results.
基金supported by the National Science Foundation under Award#1823951-1823983。
文摘We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties.Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties.Using conventional control algorithms on such systems can cause not only poor control performance,but also expensive computational costs and catastrophic instabilities.Therefore,system uncertainties need to be estimated through designing a computationally efficient adaptive control law.We focus on robot manipulators as an example of a highly nonlinear system.As a case study,a 2-DOF manipulator subject to four parametric uncertainties is investigated.First,the dynamic equations of the manipulator are derived,and the corresponding regressor matrix is constructed for the unknown parameters.For a general nonlinear system,a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters'estimations.Finally,simulation results are discussed for a two-link manipulator,and the performance of the proposed scheme is thoroughly evaluated.