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Nonlinear piezoelectric materials are raised as a great replacement for devices that require low power consumption, high sensitivity, and accurate transduction, fitting with the demanding requirements of new technologies such as the Fifth-Generation of telecommunications (5G), the Internet of Things (IoT), and modern radio frequency (RF) applications. In this work, the state equations that correctly predict the nonlinear piezoelectric phenomena observed experimentally are presented. Furthermore, we developed a fast methodology to implement the state equations in the main FEM simulation software, allowing an easy design and characterization of this type of device, as the symmetry structures for high-order tensors are shown and explained. The operation regime of each high-order tensor is discussed and connected with the main nonlinear phenomena reported in the literature. Finally, to demonstrate our theoretical deductions, we used the experimental measurements, which presented the nonlinear effects, which were reproduced through simulations, obtaining maximum percent errors for the effective elasticity constants, relative effective permittivity, and resonance frequencies of 0.79 % , 2.9 % , and 0.3 % , respectively, giving a proof of the potential of the nonlinear state equations presented for the unifying of all nonlinear phenomena observed in the piezoelectric devices. [ABSTRACT FROM AUTHOR]

The homotopy perturbation method (HPM) is coupled with versions of Laplace-Pade and Pade methods to provide an approximate solution to the nonlinear differential equation that describes the behaviour of a flow with a stretching flat boundary due to partial slip. Comparing results between approximate and numerical solutions, we concluded that our results are capable of providing an accurate solution and are extremely efficient. [ABSTRACT FROM AUTHOR]

Natural sources of green energy include sunshine, water, biomass, geothermal heat, and wind. These energies are alternate forms of electrical energy that do not rely on fossil fuels. Green energy is environmentally benign, as it avoids the generation of greenhouse gases and pollutants. Various systems and equipment have been utilized to gather natural energy. However, most technologies need a huge amount of infrastructure and expensive equipment in order to power electronic gadgets, smart sensors, and wearable devices. Nanogenerators have recently emerged as an alternative technique for collecting energy from both natural and artificial sources, with significant benefits such as light weight, low-cost production, simple operation, easy signal processing, and low-cost materials. These nanogenerators might power electronic components and wearable devices used in a variety of applications such as telecommunications, the medical sector, the military and automotive industries, and internet of things (IoT) devices. We describe new research on the performance of nanogenerators employing several green energy acquisition processes such as piezoelectric, electromagnetic, thermoelectric, and triboelectric. Furthermore, the materials, applications, challenges, and future prospects of several nanogenerators are discussed.

Achieving the smart motion of any autonomous or semi-autonomous robot requires an efficient algorithm to determine a feasible collision-free path. In this paper, a novel collision-free path homotopy-based path-planning algorithm applied to planar robotic arms is presented. The algorithm utilizes homotopy continuation methods (HCMs) to solve the non-linear algebraic equations system (NAES) that models the robot's workspace. The method was validated with three case studies with robotic arms in different configurations. For the first case, a robot arm with three links must enter a narrow corridor with two obstacles. For the second case, a six-link robot arm with a gripper is required to take an object inside a narrow corridor with two obstacles. For the third case, a twenty-link arm must take an object inside a maze-like environment. These case studies validated, by simulation, the versatility and capacity of the proposed path-planning algorithm. The results show that the CPU time is dozens of milliseconds with a memory consumption less than 4.5 kB for the first two cases. For the third case, the CPU time is around 2.7 s and the memory consumption around 18 kB. Finally, the method's performance was further validated using the industrial robot arm CRS CataLyst-5 by Thermo Electron.

The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, and pharmaceutical applications. The automation of high-degree-of-freedom (DOF) manipulator robots is a challenging task due to the high redundancy in the end-effector position. Additionally, in the presence of obstacles in the workspace, the task becomes even more complicated. Therefore, for decades, the most common method of integrating a manipulator in an industrial automated process has been the demonstration technique through human operator intervention. Although it is a simple strategy, some drawbacks must be considered: first, the path's success, length, and execution time depend on operator experience; second, for a structured environment with few objects, the planning task is easy. However, for most typical industrial applications, the environments contain many obstacles, which poses challenges for planning a collision-free trajectory. In this paper, a multiple-query method capable of obtaining collision-free paths for high DOF manipulators with multiple surrounding obstacles is presented. The proposed method is inspired by the resistive grid-based planner method (RGBPM). Furthermore, several improvements are implemented to solve complex planning problems that cannot be handled by the original formulation. The most important features of the proposed planner are as follows: (1) the easy implementation of robotic manipulators with multiple degrees of freedom, (2) the ability to handle dozens of obstacles in the environment, (3) compatibility with various obstacle representations using mathematical models, (4) a new recycling of a previous simulation strategy to convert the RGBPM into a multiple-query planner, and (5) the capacity to handle large sparse matrices representing the configuration space. A numerical simulation was carried out to validate the proposed planning method's effectiveness for manipulators with three, five, and six DOFs on environments with dozens of surrounding obstacles. The case study results show the applicability of the proposed novel strategy in quickly computing new collision-free paths using the first execution data. Each new query requires less than 0.2 s for a 3 DOF manipulator in a configuration space free-modeled by a 7291 × 7291 sparse matrix and less than 30 s for five and six DOF manipulators in a configuration space free-modeled by 313,958 × 313,958 and 204,087 × 204,087 sparse matrices, respectively. Finally, a simulation was conducted to validate the proposed multiple-query RGBPM planner's efficacy in finding feasible paths without collision using a six-DOF manipulator (KUKA LBR iiwa 14R820) in a complex environment with dozens of surrounding obstacles.

The ability to plan a multiple-target path that goes through places considered important is desirable for autonomous mobile robots that perform tasks in industrial environments. This characteristic is necessary for inspection robots that monitor the critical conditions of sectors in thermal, nuclear, and hydropower plants. This ability is also useful for applications such as service at home, victim rescue, museum guidance, land mine detection, and so forth. Multiple-target collision-free path planning is a topic that has not been very studied because of the complexity that it implies. Usually, this issue is left in second place because, commonly, it is solved by segmentation using the point-to-point strategy. Nevertheless, this approach exhibits a poor performance, in terms of path length, due to unnecessary turnings and redundant segments present in the found path. In this paper, a multiple-target method based on homotopy continuation capable to calculate a collision-free path in a single execution for complex environments is presented. This method exhibits a better performance, both in speed and efficiency, and robustness compared to the original Homotopic Path Planning Method (HPPM). Among the new schemes that improve their performance are the Double Spherical Tracking (DST), the dummy obstacle scheme, and a systematic criterion to a selection of repulsion parameter. The case studies show its effectiveness to find a solution path for office-like environments in just a few milliseconds, even if they have narrow corridors and hundreds of obstacles. Additionally, a comparison between the proposed method and sampling-based planning algorithms (SBP) with the best performance is presented. Furthermore, the results of case studies show that the proposed method exhibits a better performance than SBP algorithms for execution time, memory, and in some cases path length metrics. Finally, to validate the feasibility of the paths calculated by the proposed planner; two simulations using the pure-pursuit controlled and differential drive robot model contained in the Robotics System Toolbox of MATLAB are presented.

This work presents the novel Leal-polynomials (LP) for the approximation of nonlinear differential equations of different kind. The main characteristic of LPs is that they satisfy multiple expansion points and its derivatives as a mechanism to replicate behaviour of the nonlinear problem, giving more accuracy within the region of interest. Therefore, the main contribution of this work is that LP satisfies the successive derivatives in some specific points, resulting more accurate polynomials than Taylor expansion does for the same degree of their respective polynomials. Such characteristic makes of LPs a handy and powerful tool to approximate different kind of differential equations including: singular problems, initial condition and boundary-valued problems, equations with discontinuities, coupled differential equations, high-order equations, among others. Additionally, we show how the process to obtain the polynomials is straightforward and simple to implement; generating a compact, and easy to compute, expression. Even more, we present the process to approximate Gelfand's equation, an equation of an isothermal reaction, a model for chronic myelogenous leukemia, Thomas-Fermi equation, and a high order nonlinear differential equations with discontinuities getting, as result, accurate, fast and compact approximate solutions. In addition, we present the computational convergence and error studies for LPs resulting convergent polynomials and error tendency to zero as the order of LPs increases for all study cases. Finally, a study of CPU time shows that LPs require a few nano-seconds to be evaluated, which makes them suitable for intensive computing applications., (© 2020 The Authors.)

This article proposes non-linearities distribution Laplace transform-homotopy perturbation method (NDLT-HPM) to find approximate solutions for linear and nonlinear differential equations with finite boundary conditions. We will see that the method is particularly relevant in case of equations with nonhomogeneous non-polynomial terms. Comparing figures between approximate and exact solutions we show the effectiveness of the proposed method.

Unlabelled: This work presents a direct procedure to apply Padé method to find approximate solutions for nonlinear differential equations. Moreover, we present some cases study showing the strength of the method to generate highly accurate rational approximate solutions compared to other semi-analytical methods. The type of tested nonlinear equations are: a highly nonlinear boundary value problem, a differential-algebraic oscillator problem, and an asymptotic problem. The high accurate handy approximations obtained by the direct application of Padé method shows the high potential if the proposed scheme to approximate a wide variety of problems. What is more, the direct application of the Padé approximant aids to avoid the previous application of an approximative method like Taylor series method, homotopy perturbation method, Adomian Decomposition method, homotopy analysis method, variational iteration method, among others, as tools to obtain a power series solutions to post-treat with the Padé approximant., Ams Subject Classification: 34L30.

This article proposes Laplace Transform Homotopy Perturbation Method (LT-HPM) to find an approximate solution for the problem of an axisymmetric Newtonian fluid squeezed between two large parallel plates. After comparing figures between approximate and exact solutions, we will see that the proposed solutions besides of handy, are highly accurate and therefore LT-HPM is extremely efficient.

Abstract: In this article, we propose the application of a modified Taylor series method (MTSM) for the approximation of nonlinear problems described on finite intervals. The issue of Taylor series method with mixed boundary conditions is circumvented using shooting constants and extra derivatives of the problem. In order to show the benefits of this proposal, three different kinds of problems are solved: three-point boundary valued problem (BVP) of third-order with a hyperbolic sine nonlinearity, two-point BVP for a second-order nonlinear differential equation with an exponential nonlinearity, and a two-point BVP for a third-order nonlinear differential equation with a radical nonlinearity. The result shows that the MTSM method is capable to generate easily computable and highly accurate approximations for nonlinear equations., Ams Subject Classification: 34L30.

We present a homotopy continuation method (HCM) for finding multiple operating points of nonlinear circuits composed of devices modelled by using piecewise linear (PWL) representations. We propose an adaptation of the modified spheres path tracking algorithm to trace the homotopy trajectories of PWL circuits. In order to assess the benefits of this proposal, four nonlinear circuits composed of piecewise linear modelled devices are analysed to determine their multiple operating points. The results show that HCM can find multiple solutions within a single homotopy trajectory. Furthermore, we take advantage of the fact that homotopy trajectories are PWL curves meant to replace the multidimensional interpolation and fine tuning stages of the path tracking algorithm with a simple and highly accurate procedure based on the parametric straight line equation.