Total Path Length Research Articles

INTERCONNECTION LINK ADDITIONS TOWARDS COMMUNICATION NETWORK CONSOLIDATION

The ever-increasing demand for modern communication services and the rising cost of capital and operating expenditures have led to interest in multi-operator network collaborations. These network operators manage different network domains and infrastructures, such that their topologies may be disjointed from each other, and require the addition of intermediate interconnection links for the domains to communicate with each other. The main contribution of this paper is the proposal of an integer linear program for finding the optimum set of interconnection links to be added to the multi-domain networks such that the multi-domain networks become a connected graph, while minimizing either (1) the total length of added interconnection links, (2) the total shortest path length between all the border nodes of the multi-domain networks, or (3) the total number of shortest hop counts between all the border nodes of the multi-domain networks. The proposed integer linear program is shown to find the optimum solution under various properties for the multi-domain networks, albeit with increased computation time as the size of the problem increases. Simulation results using randomly generated multi-domain networks show a trade-off in terms of length of added links, shortest path length and shortest path hop count for each specific objective function.

Postural control strategies with alterations in visual input conditions in a standing position.

Mediated by balance systems, postural control relies heavily on visual input. However, the precise relationship between various visual conditions and postural strategies for balance remains unclear. This study investigated alterations in the center of pressure (COP) and ankle muscle activity during standing positions in healthy individuals under different visual conditions. Fifty-three healthy university students participated in the study. Stabilometry was conducted to evaluate the total path length and outer circumferential area for the COP. Further, surface electromyography was utilized to assess the activity of the bilateral tibialis anterior (TA) and lateral head of gastrocnemius muscles. Participants were instructed to maintain an upright posture under three visual conditions: binocular (eyes open) and monocular (either closing the dominant or nondominant eye). The three conditions were compared using a one-way analysis of variance. No significant differences were observed in the COP across visual conditions. However, in the TA of the nondominant leg, the mean values for the binocular, dominant eye, and nondominant eye conditions were 0.91, 1.08, and 1.14 times that of the resting standing position. Notably, the TA of the nondominant leg was significantly lower in the binocular condition than the dominant and nondominant eye conditions. The study findings indicate that the COP remain consistent despite variations in external visual input. This stability is likely maintained through compensatory adjustments, such as increased TA muscle activity in the nondominant leg under the nondominant eye condition. These observations highlight the complex interplay between the visual perception and postural stability.

A dosimetrically motivated pathfinding approach for non-isocentric dynamic trajectory radiotherapy

Objective.Non-isocentric dynamic trajectory radiotherapy (DTRT) involves dynamic table translations in synchrony with intensity modulation and dynamic gantry, table, and/or collimator rotation. This work aims to develop and evaluate a novel dosimetrically motivated path determination technique for non-isocentric DTRT.Approach.The path determination considers all available beam directions, given on a user-specified grid of gantry angle, table angle, and longitudinal, vertical, and lateral table position. Additionally, the source-to-target distance of all beam directions can be extended by moving the table away from the gantry along the central beam axis to increase the collision-free space. The path determination uses a column generation algorithm to iteratively add beam directions to paths until a user-defined total path length is reached. A subsequent direct aperture optimization of the intensity modulation along the paths creates deliverable plans. Non-isocentric DTRT plans using the path determination and using a manual path setup were created for a craniospinal and a spinal irradiation case. Furthermore, VMAT, isocentric DTRT, and non-isocentric DTRT plans are created for a breast, head and neck (H&N), and esophagus case. Additionally, a HyperArc plan is created for the H&N case. The plans are compared in terms of the dosimetric treatment plan quality and estimated delivery time.Main results.For the craniospinal and spinal irradiation case, using path determination results in dose distributions with improved conformity but a slightly worse target homogeneity compared to manual path setup. The non-isocentric DTRT plans maintained target coverage while reducing the mean dose to organs-at-risk on average by 1.7 Gy (breast), 1.0 Gy (H&N), and 1.6 Gy (esophagus) compared to the VMAT plans and by 0.8 Gy (breast), 0.6 Gy (H&N), and 0.8 Gy (esophagus) compared to the isocentric DTRT plans.Significance.A general dosimetrically motivated path determination applicable to non-isocentric DTRT plans is successfully developed, further advancing the treatment planning for non-isocentric DTRT.

Comparative Analysis of Dual-Task and Single- Task Balance Exercises in Improving Static Balance in Individuals with Anterior Cruciate Ligament Reconstruction

Introduction: Various balance exercises have been employed to enhance functional stability and balance in individuals who have undergone anterior cruciate ligament (ACL) reconstruction; however, no study has explored the use of dual-task balance exercises for these patients. This study compares the effects of dual motor task balance exercises and single-task exercises on the static balance indices of individuals with ACL reconstruction. Materials and Methods: In a single-blind randomized controlled trial, 27 subjects who had undergone ACL reconstruction were randomly divided into two groups: Dual-task and single- task balance exercises. Both groups performed their exercises three days a week for one month. Static balance indicators were assessed at the beginning and end of the treatment. Results: The results demonstrated that after the treatment, there was a statistically significant decrease in various center of pressure variables, including mean displacement in the anterior- posterior and medial-lateral directions, total path length, mean velocity of displacement, root mean square of displacement, and velocity. Furthermore, the knee injury and osteoarthritis outcome score significantly increased in both groups (P<0.05). However, when comparing the two groups, no significant difference was observed after the treatment (P>0.05). Conclusion: Dual-task and single-task motor exercises improve static stability and knee function levels in patients who have undergone ACL reconstruction. Meanwhile, the effectiveness of these exercise types does not significantly differ from each other.

Full Coverage Path Planning for Torpedo-Type AUVs’ Marine Survey Confined in Convex Polygon Area

In this paper, we present a full coverage path planning (CPP) algorithm for the marine surveys conducted in the convex polygon shaped search area. The survey is supposed to carry out by torpedo-type AUVs (autonomous underwater vehicles). Due to their nonholonomic mechanical characteristics, these vehicles have nonzero minimum turning radius. For any given polygon shaped search area, it can always be partitioned into one or more convex polygons. With this in mind, this paper proposes a novel search algorithm called CbSPSA (Calculation based Shortest Path Search Algorithm) for full coverage of any given convex polygon shaped search area. By aligning the search inter-tracks alongside the edge with the minimum height, we can guarantee the minimum number of the vehicle’s turns. In addition, the proposed method can guarantee the planned path is strictly located inside the polygon area without overlapped or crossed path lines, and also has the total path length as short as possible. Considering the vehicle’s nonzero minimum turning radius, we also propose a sort of smoothing algorithm which can smooth the waypoint path searched by CbSPSA so that the vehicle can exactly follow it. The smoothed path is also guaranteed to be strictly located inside the polygon. Numerical simulation analyses are also carried out to verify the effectiveness of the proposed schemes.

Effects of Anodal tDCS Applied Over the Cerebellum Combined with Physical Therapy on Center of Gravity Sway in a Patient with Cerebellar Ataxia: A Single-Case Study.

Damage to the cerebellum results in dysfunctional standing postural control. Patients with cerebellar ataxia have a larger sway in the center of gravity (COG) while standing. Transcranial direct current stimulation (tDCS) has been applied in the rehabilitation of patients with central nervous system disorders; however, its effect on COG sway in patients with cerebellar ataxia remains unknown. We aimed to confirm the effects of anodal cerebellar tDCS (ctDCS) combined with physical therapy on COG sway in a patient with cerebellar ataxia using a retrospective ABA single-case study design. This study involved a patient with left cerebellar hemorrhage. Walking and postural balance rehabilitation were conducted in phase A. Anodal ctDCS was combined with the walking and postural balance rehabilitation in phase B. We measured COG sway in the open- and closed-eyes standing conditions daily throughout all the phases. In the open-eyes standing condition, there was no significant change in COG sway in phase B. Conversely, in the closed-eyes standing condition, the circumferential area, total sway path length, and anteroposterior sway path length decreased in phase B. No change was observed in the mediolateral sway path length. The combination of anodal ctDCS and physical therapy may decrease COG sway in patients with cerebellar ataxia in the closed-eyes standing condition, and its effect may be greater in the anteroposterior direction.

Cooperative Path Planning for Persistent Surveillance in Large‐Scale Environment with UAV‐UGV System

AbstractIn this paper, we consider the path planning problem of the Unmanned Air‐Ground Vehicle (UAV‐UGV) system for large‐scale environmental persistent surveillance. The goal is to acquire a set of periodically visited surveillance nodes while minimizing the traveling distance. Some expected key problems are the limitations of UAV speed, UGV speed, UAV endurance, and UAV field of view. To address this issue, the path planning of UAV‐UGV surveillance system is modeled as a TSP optimization problem based on multiple constraints, aiming to minimize the total path length of the system to perform the task. UAV is responsible for visiting the surveillance node and UGV serves as a mobile charging station. And a two‐layer chaotic aptenodytes forsteri optimization algorithm (Two‐CAFO) is proposed to solve this problem. Our solution has been tested in several simulated and real‐world environments. The results demonstrate that the proposed Two‐CAFO has superior performance compared to other state‐of‐the‐art algorithms in solving the path planning problem for large‐scale environmental persistent surveillance tasks of UAV and UGV. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

Prototype Model of Electric Locomotive Traction System

Abstract: Electrical locomotive is driven by DC series motor of 12V. The torque produced by motors is used to move the locomotive. The main supply to the motor is given through pantographs. The total length of path is 6 feet approximately. The other main equipment are rectifiers, Step-down transformer. Rectifier is used for conversion of alternating current to direct current, Step-down transformers used for convert high voltage power to a low voltage The railway is one of the largest and oldest methods of the transportation in our country serving many people in many ways. The major problem in railways is derailing and obstruction to the locomotive in different ways. Traction is basically two types, electrical traction and nonelectric traction. Electric traction is most advantageous and economical with less maintenance when compared to other.

Spiral complete coverage path planning based on conformal slit mapping in multi-connected domains

The generation of smoother and shorter spiral complete coverage paths in multi-connected domains is a crucial research topic in path planning for robotic cavity machining and other related fields. Traditional methods for spiral path planning in multi-connected domains typically incorporate a subregion division procedure that leads to excessive subregion bridging, requiring longer, more sharply turning, and unevenly spaced spirals to achieve complete coverage. To address this issue, this paper proposes a novel spiral complete coverage path planning method using conformal slit mapping. It takes advantage of the fact that conformal slit mapping can transform multi-connected domains into regular disks or annuluses without the need for subregion division. Firstly, a slit mapping calculation technique is proposed for segmented cubic spline boundaries with corners. Secondly, a spiral path spacing control method is developed based on the maximum inscribed circle radius between adjacent conformal slit mapping iso-parameters. Thirdly, the spiral coverage path is derived by offsetting iso-parameters. Numerical experiments indicate that our method shares a comparable order-of-magnitude in computation time with the traditional PDE-based spiral complete coverage path method, but it excels in optimizing total path length, smoothness, and spacing consistency. Finally, we performed experiments on cavity milling and dry runs to compare the new method with the traditional PDE-based method in terms of machining duration and steering impact, respectively. The comparison reveals that, with both algorithms achieving complete coverage, the new algorithm reduces machining time and steering impact by 12.34% and 22.78%, respectively, compared with the traditional PDE-based method.

The effects of acute normobaric hypoxia on standing balance while dual-tasking with and without visual input.

To investigate the influence of acute normobaric hypoxia on standing balance under single and dual-task conditions, both with and without visual input. 20 participants (7 female, 20-31years old) stood on a force plate for 16, 90-s trials across four balance conditions: single-task (quiet stance) or dual-task (auditory Stroop test), with eyes open or closed. Trials were divided into four oxygen conditions where the fraction of inspired oxygen (FIO2) was manipulated (normoxia: 0.21 and normobaric hypoxia: 0.16, 0.145 and 0.13 FIO2) to simulate altitudes of 1100, 3,400, 4300, and 5200m. Participants breathed each FIO2 for ~ 3min before testing, which lasted an additional 7-8min per oxygen condition. Cardiorespiratory measures included heart rate, peripheral blood oxygen saturation, and pressure of end tidal (PET) CO2 and O2. Center of pressure measures included total path length, 95% ellipse area, and anteroposterior and mediolateral velocity. Auditory Stroop test performance was measured as response accuracy and latency. Significant decreases in oxygen saturation and PETO2, and increased heart rate were observed between normoxia and normobaric hypoxia (P < 0.0001). Total path length was higher at 0.13 compared to 0.21 FIO2 for the eyes closed no Stoop test condition (P = 0.0197). No other significant differences were observed. These findings suggest that acute normobaric hypoxia has a minimal impact on standing balance and does not influence auditory Stroop test or dual-task performance. Further investigation with longer exposure is required to understand the impact and time course of normobaric hypoxia on standing balance.

Evaluation of skill acquisition characteristics depending on the size of a dry box

Background Few studies have analyzed the effect of the size of the working space in training on the acquisition of endoscopic skills. In this study, adult- and infant-sized dry boxes (DBs) were used to verify how the size of the working space in training affects forceps manipulation and learning curve. Material and methods Seventy-two medical students were enrolled. The task was peg transfer. The training environment was divided into adult- and infant-sized DBs. Skill evaluations were also divided into adult- and infant-sized DBs (four groups in total). The forceps manipulation characteristics and task completion time were compared before and after training. Results Regarding skill evaluations using adult-sized DBs, there were no significant differences between the infant- and adult-sized DB-trained groups. Regarding skill evaluations using infant-sized DBs, there were no significant differences between the groups before training. After training, there was no significant difference in the total path length or average acceleration of the forceps between the groups. However, the infant-sized DB-trained group had a significantly faster average forceps velocity and faster task completion time than the adult-sized DB-trained group. Conclusion Training with a small DB is more efficient in acquiring smoother and faster forceps manipulation in a small working space.

Cyclable Variable Path Length Multilevel Structures for Lossless Ion Manipulations (SLIM) Platform for Enhanced Ion Mobility Separations.

Ion mobility-mass spectrometry (IMS-MS) is used to analyze complex samples and provide structural information on unknown compounds. As the complexity of samples increases, there is a need to improve the resolution of IMS-MS instruments to increase the rate of molecular identification. This work evaluated a cyclable and variable path length (and hence resolving power) multilevel Structures for Lossless Ion Manipulations (SLIM) platform to achieve a higher resolving power than what was previously possible. This new multilevel SLIM platform has eight separation levels connected by ion escalators, yielding a total path length of ∼88 m (∼11 m per level). Our new multilevel SLIM can also be operated in an "ion cycling" mode by utilizing a set of return ion escalators that transport ions from the eighth level back to the first, allowing even extendable path lengths (and higher IMS resolution). The platform has been improved to enhance ion transmission and IMS separation quality by reducing the spacing between SLIM boards. The board thickness was reduced to minimize the ions' escalator residence time. Compared to the previous generation, the new multilevel SLIM demonstrated better transmission for a set of phosphazene ions, especially for the low-mobility ions. For example, the transmission of m/z 2834 ions was improved by a factor of ∼3 in the new multilevel SLIM. The new multilevel SLIM achieved 49% better resolving powers for GRGDS1+ ions in 4 levels than our previous 4-level SLIM. The collision cross-section-based resolving power of the SLIM platform was tested using a pair of reverse sequence peptides (SDGRG1+, GRGDS1+). We achieved 1100 resolving power using 88 m of path length (i.e., 8 levels) and 1400 following an additional pass through the eight levels. Further evaluation of the multilevel SLIM demonstrated enhanced separation for positively and negatively charged brain total lipid extract samples. The new multilevel SLIM enables a tunable high resolving power for a wide range of ion mobilities and improved transmission for low-mobility ions.

Change in economy of ultrasound probe motion among general medicine trainees

ObjectivesTo observe change in economy of 9 ultrasound probe movement metrics among internal medicine trainees during a 5-day training course in cardiac point of care ultrasound (POCUS).MethodsWe used a novel probe tracking device to record nine features of ultrasound probe movement, while trainees and experts optimized ultrasound clips on the same volunteer patients. These features included translational movements, gyroscopic movements (titling, rocking, and rotation), smoothness, total path length, and scanning time. We determined the adjusted difference between each trainee’s movements and the mean value of the experts’ movements for each patient. We then used a mixed effects model to trend average the adjusted differences between trainees and experts throughout the 5 days of the course.ResultsFifteen trainees were enrolled. Three echocardiographer technicians and the course director served as experts. Across 16 unique patients, 294 ultrasound clips were acquired. For all 9 movements, the adjusted difference between trainees and experts narrowed day-to-day (p value < 0.05), suggesting ongoing improvement during training. By the last day of the course, there were no statistically significant differences between trainees and experts in translational movement, gyroscopic movement, smoothness, or total path length; yet on average trainees took 28 s (95% CI [14.7–40.3] seconds) more to acquire a clip.ConclusionsWe detected improved ultrasound probe motion economy among internal medicine trainees during a 5-day training course in cardiac POCUS using an inexpensive probe tracking device. Objectively quantifying probe motion economy may help assess a trainee’s level of proficiency in this skill and individualize their POCUS training.

Dynamic multi-objective path-order planning research in nuclear power plant decommissioning based on NSGA-II

The requirement for nuclear reactor decommissioning multi-objective optimization has grown in recent years. This paper proposes a dynamic total exposure dose estimation method based on the point-kernel method and improves its performance by introducing single-instruction-multiple-data and multi-threading technologies. Then, the dynamic dose estimating model is integrated into the non-dominated sorting genetic algorithm version 2 to obtain the preference-less path-order schemes for multi-objective decision-making. It is applied to a research reactor to validate its capability and analyze the optimized results. Results show the estimated dose conforms to the practically measured value, and the optimized schemes can significantly reduce the cumulative dose and the total path length objective. Besides, a frequency analysis recommendation based on the Pareto front is proposed to provide a non-weighting optimal decision. Hence, we suggest using this method to acquire optimal solutions and make further decisions for decommissioning.

On the protected nodes in exponential recursive trees

The exponential recursive trees model several kinds of networks. At each step of growing of these trees, each node independently attracts a new node with probability p, or fails to do with probability 1 − p. Here, we investigate the number of protected nodes, total path length of protected nodes, and a mean study of the protected node profile of such trees.

Comparison of the Effects of Cognitive Dual-Task and Single-Task Balance Exercises on Static Balance among People with Anterior Cruciate Ligament Reconstruction: A Randomized Controlled Trial.

The anterior cruciate ligament (ACL) reconstruction surgery improves mechanical stability; however, functional stability remains impaired. Balance exercises can help improve functional stability. The effect of cognitive dual-task balance exercises has not been studied in people with ACL reconstruction surgery; therefore, this study aimed to compare the effect of cognitive dual-task and single-task balance exercises on the static balance indices in these individuals. This study was a randomized clinical trial. After a period of conventional physiotherapy and applying inclusion criteria, 28 patients with ACL reconstruction surgery were randomly divided into two groups of cognitive dual-task and single-task balance exercises. Each group received the relevant exercises for four weeks, three times a week, with each session lasting 20 min. Center of pressure variables, including mean displacement in anterior-posterior and medial-lateral directions, total path length, mean velocity of displacement, root mean square of displacement and velocity, and the elliptical area, were measured using the FDM pressure platform before and after the interventions as the primary outcomes. Knee Injury and Osteoarthritis Outcome Score (KOOS) scale was completed by the participants before and after the interventions. The measured static balance variables and KOOS subscales had significant differences before and after intervention in both groups (P<0.05); however, no statistically significant difference was observed in these variables between the two groups. There was no significant correlation between KOOS subscales and measured static balance variables. Both cognitive dual-task and single-task balance exercises improved the indicators related to static balance and the level of functional disability of the knee. However, cognitive dual-task balance exercises had no superiority over single-task balance exercises in ACL-reconstructed individuals.

Comparative Analysis of Interactive Modalities for Intuitive Endovascular Interventions.

Endovascular intervention is a minimally invasive method for treating cardiovascular diseases. Although fluoroscopy, known for real-time catheter visualization, is commonly used, it exposes patients and physicians to ionizing radiation and lacks depth perception due to its 2D nature. To address these limitations, a study was conducted using teleoperation and 3D visualization techniques. This in-vitro study involved the use of a robotic catheter system and aimed to evaluate user performance through both subjective and objective measures. The focus was on determining the most effective modes of interaction. Three interactive modes for guiding robotic catheters were compared in the study: 1) Mode GM, using a gamepad for control and a standard 2D monitor for visual feedback; 2) Mode GH, with a gamepad for control and HoloLens providing 3D visualization; and 3) Mode HH, where HoloLens serves as both control input and visualization device. Mode GH outperformed other modalities in subjective metrics, except for mental demand. It exhibited a median tracking error of 4.72 mm, a median targeting error of 1.01 mm, a median duration of 82.34 s, and a median natural logarithm of dimensionless squared jerk of 40.38 in the in-vitro study. Mode GH showed 8.5%, 4.7%, 6.5%, and 3.9% improvements over Mode GM and 1.5%, 33.6%, 34.9%, and 8.1% over Mode HH for tracking error, targeting error, duration, and dimensionless squared jerk, respectively. To sum up, the user study emphasizes the potential benefits of employing HoloLens for enhanced 3D visualization in catheterization. The user study also illustrates the advantages of using a gamepad for catheter teleoperation, including user-friendliness and passive haptic feedback, compared to HoloLens. To further gauge the potential of using a more traditional joystick as a control input device, an additional study utilizing the Haption VirtuoseTM robot was conducted. It reveals the potential for achieving smoother trajectories, with a 38.9% reduction in total path length compared to a gamepad, potentially due to its larger range of motion and single-handed control.

Low-dose exposure to malathion and radiation results in the dysregulation of multiple neuronal processes, inducing neurotoxicity and neurodegeneration in mouse

Neurodegenerative disorders are a debilitating and persistent threat to the global elderly population, carrying grim outcomes. Their genesis is often multifactorial, with a history of prior exposure to xenobiotics such as pesticides, heavy metals, enviornmental pollutants, ionizing radiation etc,. A holistic molecular insight into their mechanistic induction upon single or combinatorial exposure to different toxicants is still unclear. In the present study, one-month-old C57BL/6 male mice were administered orally with malathion (50 mg/kg body wt. for 14 days) and single whole-body radiation (0.5 Gy) on the 8th day. Post-treatment, behavioural assays for exploratory behaviour, memory, and learning were performed. After sacrifice, brains were collected for histology, biochemical assays, and transcriptomic analysis. Transcriptomic analysis revealed several altered processes like synaptic transmission and plasticity, neuronal survival, proliferation, and death. Signalling pathways like MAPK, PI3K-Akt, Apelin, NF-κB, cAMP, Notch etc., and pathways related to neurodegenerative diseases were altered. Increased astrogliosis was observed in the radiation and coexposure groups, with significant neuronal cell death and a reduction in the expression of NeuN. Sholl analysis, dendritic arborization and spine density studies revealed decreased total apical neuronal path length and dendritic spine density. Reduced levels of the antioxidants GST and GSH and acetylcholinesterase enzyme activity were also detected. However, no changes were seen in exploratory behaviour or learning and memory post-treatment. Thus, explicating the molecular mechanisms behind malathion and radiation can provide novel insights into external factor-driven neurotoxicity and neurodegenerative pathogenesis.

3D vs. 2D simulated fetoscopy for spina bifida repair: a quantitative motion analysis

3D imaging technology is becoming more prominent every day. However, more validation is needed to understand the actual benefit of 3D versus conventional 2D vision. This work quantitatively investigates whether experts benefit from 3D vision during minimally invasive fetoscopic spina bifida (fSB) repair. A superiority study was designed involving one expert team (>18 procedures prior) who performed six 2D and six 3D fSB repair simulations in a high-fidelity animal training model, using 3-port access. The 6D motion of the instruments was recorded. Among the motion metrics are total path length, smoothness, maximum speed, the modified Spectral Arc Length (SPARC), and Log Dimensionless Jerk (LDLJ). The primary clinical outcome is operation time (power 90%, 5% significance) using Sealed Envelope Ltd. 2012. Secondary clinical outcomes are water tightness of the repair, CO_2 insufflation volume, and OSATS score. Findings show that total path length and LDLJ are considerably different. Operation time during 3D vision was found to be significantly shorter compared to 2D vision (113pm 9 vs. 149pm 19 min; p = 0.026). These results suggest enhanced performance with 3D vision during interrupted suturing in fetoscopic SBA repair. To confirm these results, a larger-scale follow-up study involving multiple experts and novice surgeons is recommended.

Hierarchical Area-Based and Path-Based Heuristic Approaches for Multirobot Coverage Path Planning with Performance Analysis in Surveillance Systems.

In this study, we present a systematic exploration of hierarchical designs for multirobot coverage path planning (MCPP) with a special focus on surveillance applications. Unlike conventional studies centered on cleaning tasks, our investigation delves into the realm of surveillance problems, specifically incorporating the sensing range (SR) factor equipped on the robots. Conventional path-based MCPP strategies considering SR, primarily rely on naive approaches, generating nodes (viewpoints) to be visited and a global path based on these nodes. Therefore, our study proposes a general MCPP framework for surveillance by dealing with path-based and area-based structures comprehensively. As the traveling salesman problem (TSP) solvers, our approach incorporates not the naive approach but renowned and powerful algorithms such as genetic algorithms (GAs), and ant colony optimization (ACO) to enhance the planning process. We devise six distinct methods within the proposed MCPP framework. Two methods adopt area-based approaches which segments areas via a hierarchical max-flow routing algorithm based on SR and the number of robots. TSP challenges within each area are tackled using a GA or ACO, and the result paths are allocated to individual robots. The remaining four methods are categorized by the path-based approaches with global-local structures such as GA-GA, GA-ACO, ACO-GA, and ACO-ACO. Unlike conventional methods which requires a global path, we further incorporate ACO- or GA-based local planning. This supplementary step at the local level enhances the quality of the path-planning results, particularly when dealing with a large number of nodes, by preventing any degradation in global path-planning outcomes. An extensive comparative analysis is conducted to evaluate the proposed framework based on execution time, total path length, and idle time. The area-based approaches tend to show a better execution time and overall path length performance compared to the path-based approaches. However, the path-based MCPP methods have the advantage of having a smaller idle time than the area-based MCPP methods. Our study finds that the proposed area-based MCPP method excels in path planning, while the proposed path-based MCPP method demonstrates superior coverage balance performance. By selecting an appropriate MCPP structure based on the specific application requirements, leveraging the strengths of both methodologies, efficient MCPP execution becomes attainable. Looking forward, our future work will focus on tailoring these MCPP structures to diverse real-world conditions, aiming to propose the most suitable approach for specific applications.