Self-intersection repair in static 3D surface meshes presents unique challenges due to the absence of temporal motion and penetration depth information—two critical elements typically leveraged in physics-based approaches. We introduce a novel framework that transforms local contact handling into a global repair strategy through a combination of local signed tangent-point energies and their gradient diffusion. At the heart of our method is a key insight: rather than computing expensive global repulsive potentials, we can effectively approximate long-range interactions by diffusing energy gradients from local contacts throughout the mesh surface. In turn, resolving complex self-intersections reduces to simply propagating local repulsive energies through standard diffusion mechanics and iteratively solving tractable local optimizations. We further accelerate convergence through our momentum-based optimizer, which adaptively regulates momentum based on gradient statistics to prevent overshooting while maintaining rapid intersection repair. The resulting algorithm handles a variety of challenging scenarios, from shallow contacts to deep penetrations, while providing computational efficiency suitable for interactive applications.

The Internet of Things (IoT) enables new services, such as smart home and smart healthcare integrating various resources of networked devices. However, managing IoT resources is very challenging because a device may have multiple different resources and the service accesses subsets of the resources in multiple devices. To simplify the resource management, the existing IoT frameworks provide resource models and protocols for manufacturers and programmers, but their access granularity is too coarse grained causing overprivilege problems, or too fine grained causing management overheads. To avoid the overprivilege problems without the management overheads, this work proposes a new composable and flexible resource management scheme and implements its prototype compiler-runtime framework called ComFlex. The ComFlex compiler allows manufacturers to register their devices as composition of fine-grained resources by inheriting the existing interfaces of the resources, and programmers to define their own access granularity as a virtual resource that consists of the fine-grained resources of multiple devices. The ComFlex runtime supports fine-grained access control without additional overheads by mapping the fine-grained resources of the virtual resource into physical resources of different devices. To evaluate the ComFlex framework, this work implements 52 resources on 14 devices and six IoT services with ComFlex and an existing fine-grained resource management scheme. Compared to the existing scheme, the ComFlex framework supports the IoT services with 40.2% fewer lines of code and 80.9% less discovery time, without any overprivilege problem and response time delay.

In the Internet of Things (IoT) environment, detecting a faulty device is crucial to guarantee the reliable execution of IoT services. To detect a faulty device, existing schemes trace a series of events among IoT devices within a certain time window, extract correlations among them, and find a faulty device that violates the correlations. However, if a few users share the same IoT environment, since their concurrent activities make non-correlated devices react together in the same time window, the existing schemes fail to detect a faulty device without differentiating the concurrent activities. To correctly detect a faulty device in the multiple concurrent activities, this work proposes a new precise correlation extraction scheme, called PCoExtractor. Instead of using a time window, PCoExtractor continuously traces the events, removes unrelated device statuses that inconsistently react for the same activity, and constructs fine-grained correlations. Moreover, to increase the detection precision, this work newly defines a fine-grained correlation representation that reflects not only sensor values and functionalities of actuators but also their transitions and program states such as contexts. Compared to existing schemes, PCoExtractor detects and identifies 40.06% more faults for 4 IoT services with concurrent activities of 12 users while reducing 80.3% of detection and identification times.

In the Internet of Things (IoT) environments, cloud servers integrate various IoT devices including sensors and actuators, and provide new services that assist daily lives of users interacting with the physical world. While response time is a crucial factor of quality of the services, supporting short response time is challenging for the cloud servers due to a growing number and amount of connected devices and their communication. To reduce the burden of the cloud servers, fog computing is a promising alternative to offload computation and communication overheads from the cloud servers to fog nodes. However, since existing fog computing frameworks do not extract codes for fog nodes fully automatically, programmers should manually write and analyze their applications for fog computing. This work proposes Spinal Code, a new compiler-runtime framework for near-user computation that automatically partitions an original cloud-centric program into distributed sub-programs running over the cloud and fog nodes. Moreover, to reduce response time in the physical world, Spinal Code allows programmers to annotate latency sensitive actuators in a program, and optimizes the critical paths from required sensors to the actuators when it generates the sub-programs. This work implements 9 IoT programs across 4 service domains: healthcare, smart home, smart building and smart factory, and demonstrates that Spinal Code successfully reduces 44.3% of response time and 79.9% of communication on the cloud compared with a cloud-centric model.

The explosion of networked devices has driven a new computing environment called the Internet of Things (IoT), enabling various services such as home automation and health monitoring. Despite the promising applicability of the IoT, developing an IoT service is challenging for programmers, because the programmers should integrate multiple programmable devices and heterogeneous third-party devices. Recent works have proposed integrated programming platforms, but they either require device-specific implementation for third-party devices without any device abstraction, or abstract all the devices to the standard interfaces requiring unnecessary abstraction of programmable devices. To integrate IoT devices with selective abstraction, this work revisits the object oriented programming (OOP) model, and proposes a new language extension and its compiler-runtime framework, called Esperanto. With three annotations that map each object to its corresponding IoT device, the Esperanto language allows programmers to integrate multiple programmable devices into one OOP program and to abstract similar third-party devices into their common ancestor classes. Given the annotations, the Esperanto compiler automatically partitions the integrated program into multiple sub-programs for each programmable IoT device, and inserts communication and synchronization code. Moreover, for the ancestor classes, the Esperanto runtime dynamically identifies connected third-party devices, and links their corresponding descendent objects. Compared to an existing approach on the integrated IoT programming, Esperanto requires 33.3% fewer lines of code to implement 5 IoT services, and reduces their response time by 44.8% on average.

Integrating various networked devices, the Internet of Things (IoT) enables various new services like home automation, making its market larger and more competitive. Although rapid development of an IoT application is crucial to keep up with the highly competitive IoT market, developing an IoT application is challenging for programmers because the programmers should integrate multiple programmable devices and heterogeneous third-party devices. Some IoT frameworks integrate programming environments of multiple devices, but they either require device-specific implementation for third-party devices without any device abstraction, or abstract all the devices to the standard interfaces requiring unnecessary abstraction of programmable devices. This work introduces the Esperanto framework that integrates IoT devices with selective abstraction, allowing rapid prototyping of an IoT application. Exploiting the correspondence between an object and a thing in the object oriented programming (OOP) model, the Esperanto framework allows programmers to write only one OOP program instead of multiple programs for each device, and to manipulate third-party devices with their common ancestor classes. Compared to an existing approach on the integrated IoT programming, Esperanto requires 33.3% fewer lines of code to implement 5 IoT services, and reduces their response time by 44.8% on average. Moreover, with an empirical study, this work shows that the Esperanto framework reduces the development time by 52.7%.