The purpose of this MSc thesis is to create design and implementation of program for translation of x86 binary code to a high-level programming language. There is described PE file format for executables used in MS Windows operating systems in the first part of work. This document contains general information about instruction set IA-32, especially a way of decoding binary code to assembly language. There are described typical program constructions, which are being used in compilers. Design of creation high-level programming language was inspired by existing programming languages. Conclusion is made about advantages and disadvantages of approach used in this thesis.

<p dir="ltr">This thesis focuses on securing different attack surfaces of embedded systems while meeting the stringent requirements imposed by these systems. Due to the specialized architecture of embedded systems, the security measures should be customized to match the unique requirements of each specific domain. To this end, this thesis identified novel security architectures using techniques such as anomaly detection, program analysis, compartmentalization, etc. This thesis synergizes work at the intersection of programming languages, compilers, computer architecture, operating systems, and embedded systems. </p>

The Golog action programming language is a powerful means to express high-level behaviours in terms of programs over actions defined in a Situation Calculus theory. In particular for physical systems, verifying that the program satisfies certain desired temporal properties is often crucial, but undecidable in general, the latter being due to the language’s high expressiveness in terms of first-order quantification and program constructs. So far, approaches to achieve decidability involved restrictions where action effects either had to be contextfree (i.e. not depend on the current state), local (i.e. only affect objects mentioned in the action’s parameters), or at least bounded (i.e. only affect a finite number of objects). In this paper, we present a new, more general class of action theories (called acyclic) that allows for context-sensitive, non-local, unbounded effects, i.e. actions that may affect an unbounded number of possibly unnamed objects in a state-dependent fashion. We contribute to the further exploration of the boundary between decidability and undecidability for Golog, showing that for acyclic theories in the two-variable fragment of first-order logic, verification of CTL properties of programs over ground actions is decidable.

The Generalized Finite Element Method (GFEM) is a numerical method based on the Partition of Unity (PU) concept and inspired on both the Partition of Unity Method (PUM) and the hp-Cloud method. According to the GFEM, the PU is provided by first-degree Lagragian interpolation functions, defined over a mesh of elements similar to the Finite Element Method (FEM) meshes. In fact, the GFEM can be considered an extension of the FEM to which enrichment functions can be applied in specific regions of the problem domain to improve the solution. This technique has been successfully employed to solve problems presenting discontinuities and singularities, like those that arise in Fracture Mechanics. However, most publications on the method are related to linear analyses. The present thesis is a contribution to the few studies of nonlinear analyses of Solid Mechanics by means of the GFEM. One of its main topics is the derivation of a segment-to-segment generalized contact element based on the mortar method. Material and kinematic nonlinear phenomena are also considered in the numerical models. An Object-Oriented design was developed for the implementation of a GFEM nonlinear analyses framework written in Python programming language. The results validated the formulation and demonstrate the gains and possible drawbacks observed for the GFEM nonlinear approach. / O Método dos Elementos Finitos Generalizados (MEFG) é um método numérico baseado no conceito de partição da unidade (PU) e inspirado no Método da Partição da Unidade (MPU) e o método das Nuvens-hp. De acordo com o MEFG, a PU é obtida por meio de funções de interpolação Lagragianas de primeiro grau, definidas sobre uma rede de elementos similar àquela do Método dos Elementos Finitos (MEF). De fato, o MEFG pode ser considerado uma extensão do MEF para a qual se pode aplicar enriquecimentos em regiões específicas do domínio, buscando melhorias na solução. Esta técnica já foi aplicada com sucesso em problemas com descontinuidades e singularidades, como os originários da Mecânica da Fratura. Apesar disso, a maioria das publicações sobre o método está relacionada a análises lineares. A presente tese é uma contribuição aos poucos estudos relacionados a análises não-lineares de Mecânica dos Sólidos por meio do MEFG. Um de seus principais tópicos é o desenvolvimento de um elemento de contato generalizado do tipo segmento a segmento baseado no método mortar. Fenômenos não lineares devidos ao material e à cinemática também são considerados nos modelos numéricos. Um projeto de orientação a objetos para a implementação de uma plataforma de análises não-lineares foi desenvolvido, escrito em linguagem de programação Python. Os resultados validam a formulação e demonstram os ganhos e possíveis desvantagens da abordagem a problemas não lineares por meio do MEFG.

Les travaux réalisés dans le cadre de cette thèse ont pour objectif de proposer un langage de description temporelle pour des systèmes temps-réel et d’établir les conditions de leur ordonnançabilité sous l’algorithme Earliest Deadline First (EDF). Les langages de description temporelle permettent de spécifier le comportement temporel d’une application indépendamment de son comportement fonctionnel. Le programmeur déclare dans ces langages à quels instants précis doivent être déclenchées et terminées les activités du système. Cette gestion du temps, précise et explicite, apporte au système son caractère déterministe. Le langage proposé, Extended Timing Definition Language (E-TDL), étend des langages dirigés par le temps existants, en particulier Giotto et TDL, en introduisant un nouveau modèle de tâche donné par quatre paramètres : phase, pire temps d’exécution, temps d’exécution logique TEL (intervalle de temps séparant le lancement de la tâche et sa terminaison) et période. L’introduction de ce nouveau modèle de tâche nécessite de revisiter en particulier le problème de l’ordonnançabilité des tâches pour EDF. Cette thèse propose et développe une analyse basée sur la fonction de demande pour des ensembles de tâches décrites en E-TDL et s’exécutant en contexte monoprocesseur. Une condition nécessaire et suffisante est obtenue au travers d’une analyse précise des intervalles séparant les activations de tâches au sein de différents modules s’exécutant indépendamment et pouvant changer de mode à des instants prédéfinis. Une borne de la longueur des intervalles sur lesquels doit s’opérer la vérification est déterminée. Un outil mettant en œuvre cette analyse a été développé. / The goal of this research is to define a time-triggered language for modeling real-time systems and to provide the conditions for their schedulability under Earliest Deadline First (EDF). Time-triggered languages separate the functional part of applications from their timing definition. These languages permit to model the real-time system temporal behavior by assigning system activities to particular time instants. We propose a new time-triggered framework, Extended Timing Definition Language (E-TDL), that enhances the basic task model used in Giotto and TDL while keeping compositional and modular structure brought by the latter. An E-TDL task is characterized by: an offset, a worst case execution time, a Logical Execution Time (a time interval between task release and its termination) and a period. The schedulability analysis of the system based on this new task model should be, in particular for EDF, investigated. We develop, on the concept of the processor demand criterion, conditions for the feasibility of an E-TDL system running on a single CPU under EDF. A necessary and sufficient condition is obtained by considering the global schedules that are made up of execution traces occurring at the same time in distinct modules that are able to switch their modes at predefined instants. We estimate a maximal length of the interval on which the schedulability condition must be checked. A tool suite performing the schedulability analysis of the E-TDL systems is developed.

O mapeamento e a estimação de riscos e incidências são ferramentas muito úteis para a Epidemiologia pois, auxiliam na prevenção de agravos da saúde e, também auxiliam no planejamento e avaliação dos serviços de saúde. Este trabalho busca utilizar uma ferramenta estatística que incorpora de forma adequada este tipo de análise ao estudo de outras características que estejam relacionadas a estes agravos. No presente trabalho utiliza-se como aplicação dados do estudo caso-controle espacial com base populacional de acidentes de trabalho com a proposta de estimar a distribuição espacial do risco de sofrer acidente de trabalho na área urbana do município de Piracicaba/SP entre trabalhadores que se encontravam na situação de precarização do trabalho em associação com outras variáveis de interesse através de modelos aditivos generalizados (MAG) e, através disso, mostrar que ao incorporar de forma explícita o espaço no processo de modelagem dos dados ocorre um ganho significativo na explicação da variação do risco. O modelo MAG utilizado tem variável resposta binomial (caso e controle) e multinomial (caso e controle separados pela gravidade do acidente sofrido). Com os modelos ajustados, mapas foram desenhados com indicações de diferentes cores para a intensidade do risco de sofrer acidente de trabalho. Outra abordagem utilizada para os dados espaciais de acidentes de trabalho foi a INLA (INTEGRATED NESTED LAPLACE APPROXIMATIONS), a qual é utilizada como processo de modelagem para a família dos modelos Gaussianos latentes através de novos métodos para esta família de modelos. A intenção foi mostrar como essa nova abordagem lida com dados do tipo espacial e, fazer uma comparação com a abordagem feita pela modelagem GAM / Mapping and estimation of risks and impacts are very useful tools for Epidemiology at the assistance in prevention of injuries and health, also assists in planning and evaluation of health services. This paper seeks to use a statistical tool that adequately incorporates this type of analysis to the study of other characteristics that are related these illnesses. In the present work is used as application data from case-control study space-based population accidents with the proposal to estimate the spatial distribution of risk of suffering an accident at work in the urban area of Piracicaba/SP among workers who were in employed as casual labor in combination with other variables of interest using generalized additive models (GAM) and, thereby, show that by incorporating explicitly space in the process of data modeling is a gain significant in explaining the variation in risk. The GAM model have used binomial response variable (case and control) and multinomial (case and control separated by the severity of the accident suffered). With the adjusted models, maps were drawn with indications of different colors to the intensity of the risk of accident. Another approach used for spatial data on accidents at work was the INLA (INTEGRATED NESTED LAPLACE APPROXIMATIONS), which is used as a modeling process for the family of latent Gaussian models through new methods for this family of models. The intention was to show how this new approach deals with spatial data and a comparison with the approach made by GAM modeling.

O mapeamento e a estimação de riscos e incidências são ferramentas muito úteis para a Epidemiologia pois, auxiliam na prevenção de agravos da saúde e, também auxiliam no planejamento e avaliação dos serviços de saúde. Este trabalho busca utilizar uma ferramenta estatística que incorpora de forma adequada este tipo de análise ao estudo de outras características que estejam relacionadas a estes agravos. No presente trabalho utiliza-se como aplicação dados do estudo caso-controle espacial com base populacional de acidentes de trabalho com a proposta de estimar a distribuição espacial do risco de sofrer acidente de trabalho na área urbana do município de Piracicaba/SP entre trabalhadores que se encontravam na situação de precarização do trabalho em associação com outras variáveis de interesse através de modelos aditivos generalizados (MAG) e, através disso, mostrar que ao incorporar de forma explícita o espaço no processo de modelagem dos dados ocorre um ganho significativo na explicação da variação do risco. O modelo MAG utilizado tem variável resposta binomial (caso e controle) e multinomial (caso e controle separados pela gravidade do acidente sofrido). Com os modelos ajustados, mapas foram desenhados com indicações de diferentes cores para a intensidade do risco de sofrer acidente de trabalho. Outra abordagem utilizada para os dados espaciais de acidentes de trabalho foi a INLA (INTEGRATED NESTED LAPLACE APPROXIMATIONS), a qual é utilizada como processo de modelagem para a família dos modelos Gaussianos latentes através de novos métodos para esta família de modelos. A intenção foi mostrar como essa nova abordagem lida com dados do tipo espacial e, fazer uma comparação com a abordagem feita pela modelagem GAM / Mapping and estimation of risks and impacts are very useful tools for Epidemiology at the assistance in prevention of injuries and health, also assists in planning and evaluation of health services. This paper seeks to use a statistical tool that adequately incorporates this type of analysis to the study of other characteristics that are related these illnesses. In the present work is used as application data from case-control study space-based population accidents with the proposal to estimate the spatial distribution of risk of suffering an accident at work in the urban area of Piracicaba/SP among workers who were in employed as casual labor in combination with other variables of interest using generalized additive models (GAM) and, thereby, show that by incorporating explicitly space in the process of data modeling is a gain significant in explaining the variation in risk. The GAM model have used binomial response variable (case and control) and multinomial (case and control separated by the severity of the accident suffered). With the adjusted models, maps were drawn with indications of different colors to the intensity of the risk of accident. Another approach used for spatial data on accidents at work was the INLA (INTEGRATED NESTED LAPLACE APPROXIMATIONS), which is used as a modeling process for the family of latent Gaussian models through new methods for this family of models. The intention was to show how this new approach deals with spatial data and a comparison with the approach made by GAM modeling.

Malgré de nombreuses années de travail en robotique, il existe toujours un manque d’architecture logicielle et de middleware stables pour les systèmes multi-robot. Un intergiciel robotique devrait être conçu pour faire abstraction de l’architecture matérielle de bas niveau, faciliter la communication et l’intégration de nouveaux logiciels. Cette thèse se concentre sur le middleware pour systèmes multi-robot et sur la façon dont nous pouvons améliorer les frameworks existantes dans un contexte multi-robot en ajoutant des services de coordination multi-robot, des outils de développement et de déploiement massif. Nous nous attendons à ce que les robots soient de plus en plus utiles car ils peuvent tirer profit des données provenant d’autres périphériques externes dans leur prise de décision au lieu de simplement réagir à leur environnement local (capteurs, robots coopérant dans une flotte, etc.). Cette thèse évalue d’abord l’un des intergiciels les plus récents pour robot(s) mobile(s), Robot operating system (ROS), suivi par la suite d’un état de l’art sur les middlewares couramment utilisés en robotique. Basé sur les conclusions, nous proposons une contribution originale dans le contexte multi-robots, appelé SDfR (Service discovery for Robots), un mécanisme de découverte des services pour les robots. L’objectif principal est de proposer un mécanisme permettant aux robots de garder une trace des pairs accessibles à l’intérieur d’une flotte tout en utilisant une infrastructure ad-hoc. A cause de la mobilité des robots, les techniques classiques de configuration de réseau pair à pair ne conviennent pas. SDfR est un protocole hautement dynamique, adaptatif et évolutif adapté du protocole SSDP (Simple Service Discovery Protocol). Nous conduisons un ensemble d’expériences, en utilisant une flotte de robots Turtlebot, pour mesurer et montrer que le surdébit de SDfR est limité. La dernière partie de la thèse se concentre sur un modèle de programmation basé sur un automate temporisé. Ce type de programmation a l’avantage d’avoir un modèle qui peut être vérifié et simulé avant de déployer l’application sur de vrais robots. Afin d’enrichir et de faciliter le développement d’applications robotiques, un nouveau modèle de programmation basé sur des automates à états temporisés est proposé, appelé ROSMDB (Robot Operating system Model Driven Behaviour). Il fournit une vérification de modèle lors de la phase de développement et lors de l’exécution. Cette contribution est composée de plusieurs composants : une interface graphique pour créer des modèles basés sur un automate temporisé, un vérificateur de modèle intégré basé sur UPPAAL et un générateur de squelette de code. Enfin, nous avons effectué deux expériences : une avec une flotte de drones Parrot et l’autre avec des Turtlebots afin d’illustre le modèle proposé et sa capacité à vérifier les propriétés. / Despite many years of work in robotics, there is still a lack of established software architecture and middleware for multi-robot systems. A robotic middleware should be designed to abstract the low-level hardware architecture, facilitate communication and integration of new software. This PhD thesis is focusing on middleware for multi-robot system and how we can improve existing frameworks for fleet purposes by adding multi-robot coordination services, development and massive deployment tools. We expect robots to be increasingly useful as they can take advantage of data pushed from other external devices in their decision making instead of just reacting to their local environment (sensors, cooperating robots in a fleet, etc). This thesis first evaluates one of the most recent middleware for mobile robot(s), Robot operating system (ROS) and continues with a state of the art about the commonly used middlewares in robotics. Based on the conclusions, we propose an original contribution in the multi-robot context, called SDfR (Service discovery for Robots), a service discovery mechanism for Robots. The main goal is to propose a mechanism that allows highly mobile robots to keep track of the reachable peers inside a fleet while using an ad-hoc infrastructure. Another objective is to propose a network configuration negotiation protocol. Due to the mobility of robots, classical peer to peer network configuration techniques are not suitable. SDfR is a highly dynamic, adaptive and scalable protocol adapted from Simple Service Discovery Protocol (SSDP). We conduced a set of experiments, using a fleet of Turtlebot robots, to measure and show that the overhead of SDfR is limited. The last part of the thesis focuses on programming model based on timed automata. This type of programming has the benefits of having a model that can be verified and simulated before deploying the application on real robots. In order to enrich and facilitate the development of robotic applications, a new programming model based on timed automata state machines is proposed, called ROSMDB (Robot Operating system Model Driven Behaviour). It provides model checking at development phase and at runtime. This contribution is composed of several components: a graphical interface to create models based on timed automata, an integrated model checker based on UPPAAL and a code skeleton generator. Moreover, a ROS specific framework is proposed to verify the correctness of the execution of the models and to trigger alerts. Finally, we conduct two experiments: one with a fleet of Parrot drones and second with Turtlebots in order to illustrates the proposed model and its ability to check properties.

With the prevalence of internet, it is gradually becoming a trend to use the network as a tool of computer-added education. However, it is used to present the computer-added education with static state of the word, but it is just convenient to read for the user and there are no difference with traditional textbook. As the growing up of WWW and the development of Java, the interactive computer-added education is becoming a trend in the future and it can promote the effect of teaching basic statistics with the application of this new media. The instructor can take advantage of HTML by combining with Java Applets to achieve the display of interactive education through WWW. In this paper, we will use six examples of Java Applets about statistical computer-added education to help student easily to learn and to understand some abstract statistical concepts. The key methods to reach the goal are visualization and simulation with the display of graphics or games. Finally, we will discuss how to use the Applets and how to add the Java Applets into your homepage easily.

In the recent years, the internet has been developed rapidly. By this convenient medium, the information can be spread easily all over the world. Using the convenience and variety of internet, e-learning has become a burgeoning and efficient way for learning. The main idea of e-learning is applying the concept of Asynchronous Course Delivery, and establishing a learning environment on the internet. With the connection between computer and the internet, user can learn more in a convenient environment. In order to apply the concept of e-learning to the course of statistics, we use the Java programming language to establish an on-line interactive environment. In addition to learn some fundamental concepts of statistics, learner can also strengthen the abilities of researching and surfing by themselves. In this paper we developed six interactive examples. Not only interpreting and illustrating, we also introduce the motive, goal, relative concepts and applications in detail for each example. Finally, we hope that user can easily learn more knowledge of statistics by this learning environment, then our e-learning to statistical education, can be achieved.