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Continuous Sculpting: Persistent Swarm Shape Formation Adaptable to Local Environmental Changes

IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 1019-1038页

作者： Curtis, Andrew G. Yim, Mark Rubenstein, Michael Northwestern Univ McCormick Sch Engn Ctr Robot & Biosyst Evanston IL 60208 USA Univ Penn Gen Robot Automat Sensing & Percept GRASP Lab Philadelphia PA 19104 USA

Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms that allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent of onboard energy constraints, such as batteries. Robots generate a path through a shape such that robots cycle in and out of the shape. Robots inside the shape react to human initiated changes and adapt the path through the shape accordingly. Robots outside the shape recharge and return to the shape so that the shape can persist indefinitely. The presented algorithms communicate shape changes throughout the swarm using message passing and robot motion. These algorithms enable the swarm to persist through any arbitrary changes to the shape. We describe these algorithms in detail and present their performance in simulation and on a swarm of mobile robots. The result is a swarm behavior more suitable for extended duration, dynamic shape-based tasks in applications, such as entertainment, agriculture, and emergency response.

关键词： Shape Robots Charging stations Robot sensing systems Path planning Drones Swarm robotics Crops Collision avoidance software algorithms Distributed robot systems path planning for multiple mobile robots or agents shape formation swarms

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Accelerated Medical Microwave Tomography via Heterogeneous Computing

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IEEE ACCESS 2025年 13卷 39117-39134页

作者： Vasileiou, Thomas Kosmas, Panagiotis Meta Mat Europe Maroussi 15123 Greece Univ West Attica Dept Mech Engn Egaleo 12241 Greece Kings Coll London Dept Engn London WC2R 2LS England

In practical applications, such as medical microwave imaging, the implementation of three-dimensional (3D) numerical electromagnetic (EM) inverse scattering algorithms has been limited for over two decades owing to their high computational cost. The emergence of graphics processing unit (GPU) computing has offered new possibilities to alleviate the computational burden related to EM calculations;the optimized deployment of EM inverse scattering algorithms on GPUs or other accelerators, however, has not been explored. To this end, we present the first complete GPU implementation of an iterative EM inverse scattering algorithm, which employs a suite of optimization tools in both the forward and inverse problems solved at each iteration. Importantly, we study the impact of various implementation alternatives on computational savings in different computing platforms. Our results demonstrate the significance and benefits of jointly optimizing the forward and inverse problems in implementations in heterogeneous systems. Importantly, our optimization achieves the fastest fully numerical implementation of nonlinear, iterative, EM inverse scattering algorithms that has ever been reported in the literature, resulting in real-time, 3D MWT-based reconstructions. This can pave the way for the development of clinical systems for microwave-based applications such as breast cancer or stroke detection, which are designed to take full advantage of 3D MWT scanning and expand their imaging capabilities.

关键词： Inverse problems Finite difference methods Time-domain analysis Three-dimensional displays Mathematical models Codes Image reconstruction Graphics processing units software algorithms Microwave theory and techniques Microwave imaging tomography distorted born iterative method (DBIM) heterogeneous computing general purpose computing on graphics processing units (GPGPU)

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Sensitivity Studies of Power Deposition Computed on Tokamak First Wall

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IEEE TRANSACTIONS ON PLASMA SCIENCE 2025年第3期53卷 463-475页

作者： Arter, Wayne UK Atom Energy Author Culham Sci Ctr Abingdon OX14 3DB England

Profiles of power deposition on the first wall of the Joint European Torus (JET) tokamak experiment are fit by tracing an analytic representation for the distribution of power from midplane along lines of magnetic field. The technique is used to help design plasma-facing components (PFCs) in reactor-scale magnetic confinement devices;hence, understanding how to employ it both efficiently and accurately is important. Focusing on JET divertor geometry, the work examines the sensitivity of the integrated power and maximum power per PFC tile to the representation of the magnetic field and to the discretization of the tile's own geometry and that of other PFCs. For design, it is helpful to reduce computation costs per realization to a few seconds of elapsed time, and the work concludes with recommendations and guidelines for minimizing cost while retaining adequate accuracy.

关键词： Geometry Tokamak devices Magnetic fields Sensitivity software Europe Accuracy Uncertainty Shadow mapping software algorithms Joint European Torus (JET) numerical sensitivity plasma-facing components (PFCs) power deposition tokamak uncertainty quantification

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Arithmetically Fast Position Transformation for View Synthesis and Depth Estimation

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IEEE ACCESS 2025年 13卷 24661-24671页

作者： Wegner, Krzysztof Grajek, Tomasz Klimaszewski, Krzysztof Mucha Sp Zoo PL-61626 Poznan Poland Poznan Univ Tech Inst Multimedia Telecommun PL-60965 Poznan Poland

In this paper we present a method of fast computation of matrix transformation in the process of position transformation of objects of the scene between different, virtual or real, camera positions. The process finds extensive use in virtual view generation in Free Viewpoint Video (FVV) and virtual reality applications as well as in depth estimation algorithms. The proposed method relies on the reformulation of the matrix equation used in the process. As a result, the number of necessary arithmetic operations is reduced and some of the calculations can be reused for consecutive pixel position transformations. The presented algorithm produces identical output as an unoptimized algorithm with approximately 22% reduction of the processing time averaged over the examined representative test sequences.

关键词： Cameras Vectors Three-dimensional displays software algorithms Depth measurement Mathematical models Training TV Recording Image resolution Depth estimation DIBR multiview and depth position transformation view synthesis

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High-Radix Generalized Hyperbolic CORDIC and Its Hardware Implementation

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IEEE TRANSACTIONS ON COMPUTERS 2025年第3期74卷 983-995页

作者： Chen, Hui Quan, Lianghua Chen, Ke Liu, Weiqiang Nanjing Univ Aeronaut & Astronaut Coll Integrated Circuits Nanjing 211106 Peoples R China Nanjing Univ Sch Elect Sci & Engn Nanjing 210093 Peoples R China

In this paper, we propose a high-radix generalized hyperbolic coordinate rotation digital computer (HGHCORDIC). This algorithm not only computes logarithmic and exponential functions with any fixed base but also significantly reduces the number of iterations required compared to traditional CORDIC methods. Initially, we present the general iteration formulas for HGH-CORDIC. Subsequently, we discuss its pivotal convergence properties and selection criteria, exemplifying these with commonly used cases. Through extensive software simulations, we validate the theoretical foundations of our approach. Finally, we explore efficient hardware implementation strategies. Our analysis indicates that, relative to state-of-the-art radix-2 GH-CORDIC, the proposed HGH-CORDIC can decrease the number of iterations by more than 50% while maintaining comparable accuracy. Synthesized under the 28nm CMOS technology, the reports show that the reference circuit can save about 40% area and power consumption averagely for 2x and log(2)x calculations compared with the latest CORDIC method.

关键词： Hardware Computers Vectors Accuracy Convergence software Mathematical models Computer architecture software algorithms Real-time systems High-radix hyperbolic CORDIC generalized logarithmic exponential hardware implementation

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A Retrospective of ChangeDistiller: Tree Differencing for Fine-Grained Source Code Change Extraction

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IEEE TRANSACTIONS ON software ENGINEERING 2025年第3期51卷 852-857页

作者： Fluri, Beat Wuersch, Michael Pinzger, Martin Gall, Harald Univ Zurich CH-8006 Zurich Switzerland Univ Klagenfurt A-9020 Klagenfurt Austria

In the early development of source code change analysis, methodologies primarily relied on simple textual differencing, which treated code as mere text and identified changes through lines that were added, modified, or deleted. This approach overlooked the rich semantic information embedded within the code, highlighting significant limitations in textual analysis and differencing that required a more precise and language-aware foundation. Our research on ChangeDistiller pioneered the use of abstract syntax trees and associated tree edits for change analysis. We were among the first to introduce a tree-differencing algorithm for source code, enabling a fine-grained examination of modifications. ChangeDistiller has since been widely adopted by researchers in the field of mining software repositories. This paper reflects on the evolution of our technique, its influence on subsequent research, and its role in the advancement of change analysis methodologies. In addition, we explore how contemporary techniques and tools can draw on our foundational work to enhance their effectiveness.

关键词： Codes Source coding software algorithms software Data mining Taxonomy Syntactics software engineering Heuristic algorithms Computer bugs Source code change analysis change types tree edits mining software repositories

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Simplified Fast List PAC Decoder for Broadcasting Services in 6G: Algorithm and Implementation

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IEEE TRANSACTIONS ON BROADCASTING 2025年

作者： Dai, Jingxin Yin, Hang Lv, Yansong Wang, Yuhuan Xu, Yin Lv, Rui Commun Univ China State Key Lab Media Convergence & Commun Beijing 100024 Peoples R China Shanghai Jiao Tong Univ Dept Elect Engn Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Cooperat Medianet Innovat Ctr Shanghai 200240 Peoples R China

In the 6G network, integrating broadcasting and mobile networks will significantly improve the transmission capability. Considering the excellent error-correction performance, polarized-adjusted convolutional (PAC) codes are promising for ensuring reliable data transmission in 6G broadcasting services. However, the inherent high decoding latency of PAC codes poses challenges for seamless switching between broadcasting and mobile services. In this paper, we propose a simplified fast list (SFL) PAC decoder, which jointly exploits the node thresholds and adaptive path-pruning technology to reduce the decoding latency while maintaining high reliability. Firstly, we present a novel path expansion rule based on the node thresholds to avoid unnecessary computations. Secondly, the introduction of the adaptive path-pruning technology efficiently reduces the number of sorting operations. Moreover, we implement the proposed decoder on general purpose processors (GPPs) by software. Simulation results show that the proposed SFL decoding algorithm significantly reduces the decoding latency by up to 75.18% compared to the state-of-the-art (SOTA) work with no noticeable degradation in error-correction performance. software implementation of the proposed decoder achieves an 18.80% improvement in throughput performance over the SOTA PAC software decoder.

关键词： Decoding Picture archiving and communication systems software Codes 6G mobile communication Broadcasting software algorithms Throughput Polar codes Signal processing algorithms PAC codes broadcasting decoding latency threshold decoder software

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GenProgJS: A Baseline System for Test-Based Automated Repair of JavaScript Programs

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IEEE TRANSACTIONS ON software ENGINEERING 2025年第2期51卷 325-343页

作者： Csuvik, Viktor Horvath, Daniel Lajko, Mark Vidacs, Laszlo Univ Szeged Dept Software Engn H-6720 Szeged Hungary

Originally, GenProg was created to repair buggy programs written in the C programming language, launching a new discipline in Generate-and-Validate approach of Automated Program Repair (APR). Since then, a number of other tools has been published using a variety of repair approaches. Some of these still operate on programs written in C/C++, others on Java or even Python programs. In this work, a tool named GenProgJS is presented, which generates candidate patches for faulty JavaScript programs. The algorithm it uses is very similar to the genetic algorithm used in the original GenProg, hence the name. In addition to the traditional approach, solutions used in some more recent works were also incorporated, and JavaScript language-specific approaches were also taken into account when the tool was designed. To the best of our knowledge, the tool presented here is the first to apply GenProg's general generate-and-validate approach to JavaScript programs. We evaluate the method on the BugsJS bug database, where it successfully fixed 31 bugs in 6 open source *** projects. These bugs belong to 14 different categories showing the generic nature of the method. During the experiments, code transformations applied on the original source code are all traced, and an in-depth analysis of mutation operators and fine-grained changes are also presented. We share our findings with the APR research community and describe the difficulties and differences we faced while designed this JavaScript repair tool. The source code of GenProgJS is publicly available on Github, with a pre-configured Docker environment where it can easily be launched.

关键词： Maintenance engineering Computer bugs Genetics Java Codes software development management Source coding Genetic operators software algorithms software Automated program repair (APR) genetic algorithm software debugging

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Usability and Perceived Efficiency of an Adaptive Route Optimization Solution for Commercial Vehicles

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IEEE ACCESS 2025年 13卷 61091-61108页

作者： Anghelache, Florian Goga, Nicolae Marian, Constantin Viorel Alexandru Mitrea, Dan Pavaloiu, Ionel-Bujorel iSYS Profess Res & Dev Dept Bucharest 020312 Romania Natl Univ Sci & Technol POLITEHN Bucharest Fac Engn Foreign Languages FILS Dept Engn Foreign Languages Bucharest 060042 Romania Univ Groningen Mol Dynam Grp NL-9747 AG Groningen Netherlands

This paper details the outcome of a European scientific research and development project, funded to prototype a commercial solution for vehicle fleets. While current route optimization solutions have data sources such as real-time road traffic and weather conditions, our solution was developed to offer companies a proposed plan with adapted optimized routes, considering critical operational requirements, local conditions, and drivers' driving experience. The iRoute solution consists of a module for receiving vehicle positions from GPS devices, an integration layer for end-customer applications, a route optimization engine, and applications for web and mobile users. Unlike other approaches, this innovative solution leverages historical, well-known, and familiar route data to enhance, refine, and adapt the optimized operational routes. This way, the drivers benefit from a more effective daily plan to follow based on business requirements such as locations, quantities, time, and distance. At the end of the day, adding these adjustments results in achieving up to a 20% improvement in the accuracy of executed routes, in terms of distance and time, compared to the planned route, outperforming standard optimization algorithms. This allows business owners to rely more confidently on the optimization results, providing a safer itinerary for their drivers. Also, due to lower incident rates on these known and preferred itineraries, the overall business will benefit from increased vehicle fleet availability and fewer days in service, with lower maintenance costs. The paper evaluates the usability and perceived efficiency value of the proposed solution by statistically analyzing feedback from dispatchers and business owners.

关键词： Vehicles Costs Clustering algorithms Business Routing Optimization Companies Usability software algorithms software Adaptive algorithms adaptive systems path planning roadmaps (technology planning) road traffic control vehicle routing

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A Method to Compare Scaling algorithms for Cloud-Based Services

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IEEE TRANSACTIONS ON CLOUD COMPUTING 2025年第1期13卷 34-45页

作者： De Vleeschauwer, Danny Chang, Chia-Yu Soto, Paola De Bock, Yorick Camelo, Miguel De Schepper, Koen Nokia Bell Labs Network Automat Dept B-2108 Antwerp Belgium Univ Antwerp IMEC IDLab B-2000 Antwerp Belgium

Nowadays, many services are offered via the cloud, i.e., they rely on interacting software components that can run on a set of connected Commercial Off-The-Shelf (COTS) servers sitting in data centers. As the demand for any particular service evolves over time, the computational resources associated with the service must be scaled accordingly while keeping the Key Performance Indicators (KPIs) associated with the service under control. Consequently, scaling always involves a delicate trade-off between using the cloud resources and complying with the KPIs. In this paper, we show that a (workload-dependent) Pareto front embodies this trade-off's limits. We identify this Pareto front for various workloads and assess the ability of several scaling algorithms to approach that Pareto front.

关键词： Cloud computing software algorithms software Approximation algorithms Symbols Key performance indicator Vectors Synapses Service level agreements Servers Cloud-based services kubernetes pods scaling

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