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.

Cette thèse propose une nouvelle approche du parallélisme et de la concurrence, posant les bases d'un langage de programmation à la fois sûr et "secure" (garantissant la sécurité des données), fondé sur une sémantique formelle claire et simple, tout en étant adapté aux architectures multi-cores. Nous avons adopté le paradigme synchrone, dans sa variante réactive, qui fournit une alternative simple à la programmation concurrente standard en limitant l'impact des erreurs dépendant du temps ("data-races"). Dans un premier temps, nous avons considéré un langage réactif d'orchestration, DSL, dans lequel on fait abstraction de la mémoire (Partie 1). Dans le but de pouvoir traiter la mémoire et la sécurité, nous avons ensuite étudié (Partie 2) un noyau réactif, CRL, qui utilise un opérateur de parallélisme déterministe. Nous avons prouvé la réactivité bornée des programmes de CRL. Nous avons ensuite équipé CRL de mécanismes pour contrôler le flux d'information (Partie 3). Pour cela, nous avons d'abord étendu CRL avec des niveaux de sécurité pour les variables et les évènement, puis nous avons défini dans le langage étendu, SSL, un système de types permettant d'éviter les fuites d'information. Parallèlement (Partie 4), nous avons ajouté la mémoire à CRL, en proposant le modèle DSLM. En utilisant une notion d'agent, nous avons structuré la mémoire de telle sorte qu'il ne puisse y avoir de "data-races". Nous avons également étudié l'implémentation de DSLM sur les architectures multi-cores, fondée sur la notion de site et de migration d'un agent entre les sites. L'unification de SSL et de DSLM est une piste pour un travail futur.

Made available in DSpace on 2014-12-17T15:48:06Z (GMT). No. of bitstreams: 1 SergioQM.pdf: 363127 bytes, checksum: 7b8fb995a67b3e514e8b774e59124df3 (MD5) Previous issue date: 2006-03-03 / New programming language paradigms have commonly been tested and eventually incorporated into hardware description languages. Recently, aspect-oriented programming (AOP) has shown successful in improving the modularity of object-oriented and structured languages such Java, C++ and C. Thus, one can expect that, using AOP, one can improve the understanding of the hardware systems under design, as well as make its components more reusable and easier to maintain. We apply AOP in applications developed using the SystemC library. Several examples will be presented illustrating how to combine AOP and SystemC. During the presentation of these examples, the benefits of this new approach will also be discussed / Novos paradigmas de linguagens de programa??o v?em sendo comumente testados e geralmente s?o incorporados depois por linguagens de descri??o de hardware. Recentemente, a programa??o orientada a aspectos (POA) provou ser ?til na tentativa de melhorar a modularidade de linguagens estruturadas e orientadas a objeto tais como Java, C++ e C. Diante de tal fato, podemos esperar que o uso de POA pode melhorar o entendimento de sistemas hardware que est?o sendo projetados, bem como tornar seus componentes mais reus?veis e f?ceis de manter. Iremos abordar ent?o o uso de POA em aplica??es desenvolvidas utilizando a biblioteca SystemC. Ser?o apresentados v?rios exemplos que ilustram o uso de POA juntamente com SystemC, mostrando alternativas e discutindo os seus benef?cios

Submitted by Milena Rubi (milenarubi@ufscar.br) on 2016-10-18T13:50:17Z No. of bitstreams: 1 FERREIRA_Maria_2015.pdf: 44702801 bytes, checksum: d58773cbbac5f088372d16f186805b06 (MD5) / Approved for entry into archive by Milena Rubi (milenarubi@ufscar.br) on 2016-10-18T13:50:31Z (GMT) No. of bitstreams: 1 FERREIRA_Maria_2015.pdf: 44702801 bytes, checksum: d58773cbbac5f088372d16f186805b06 (MD5) / Approved for entry into archive by Milena Rubi (milenarubi@ufscar.br) on 2016-10-18T13:50:43Z (GMT) No. of bitstreams: 1 FERREIRA_Maria_2015.pdf: 44702801 bytes, checksum: d58773cbbac5f088372d16f186805b06 (MD5) / Made available in DSpace on 2016-10-18T13:51:11Z (GMT). No. of bitstreams: 1 FERREIRA_Maria_2015.pdf: 44702801 bytes, checksum: d58773cbbac5f088372d16f186805b06 (MD5) Previous issue date: 2015-12-18 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Compiler error messages should allow programmers to understand and solve quickly problems found during the compilation process. However, compilers usually issue short contextless messages with little information and with terms that are difficult to understand. This work introduces the plug-in Error Message System (EMS) that allows the presentation of easy-to-understand and more meaningful error messages. EMS is a plug-in to the Eclipse IDE. It is highly configurable through Domain Specific Languages (DSLs). The DSLs allow that regular users build their own error messages and share them. Beginner programmers can use a set of error messages adapted to them thus reducing the time of understanding and correction of compilation errors. / As mensagens de erro dos compiladores devem permitir que os programadores compreendam e solucionem os problemas encontrados durante o processo de compilação rapidamente. Entretanto, os compiladores usualmente emitem mensagens curtas, sem contexto, pouco informativas e com termos de difícil compreensão. Este trabalho apresenta o plug-in Error Message System (EMS) que permite a apresentação das mensagens de erro mais fáceis de entender e mais informativas. EMS é um plugin para a IDE Eclipe e é altamente configurável através de linguagens específicas de domínio(LED). As LEDs permitem que usuários comuns façam suas próprias mensagens de erro e as compartilhem. Programadores iniciantes podem utilizar um conjunto de mensagens adaptadas a eles, reduzindo o tempo de compreensão e correção dos erros de compilação.

Made available in DSpace on 2014-12-17T14:55:32Z (GMT). No. of bitstreams: 1 WeldsonQL_capa_ate_pag12.pdf: 7162119 bytes, checksum: 5c9eb475de4851ecfa9f44218d55308a (MD5) Previous issue date: 2004-12-10 / In the two last decades of the past century, following the consolidation of the Internet as the world-wide computer network, applications generating more robust data flows started to appear. The increasing use of videoconferencing stimulated the creation of a new form of point-to-multipoint transmission called IP Multicast. All companies working in the area of software and the hardware development for network videoconferencing have adjusted their products as well as developed new solutionsfor the use of multicast. However the configuration of such different solutions is not easy done, moreover when changes in the operational system are also requirede. Besides, the existing free tools have limited functions, and the current comercial solutions are heavily dependent on specific platforms. Along with the maturity of IP Multicast technology and with its inclusion in all the current operational systems, the object-oriented programming languages had developed classes able to handle multicast traflic. So, with the help of Java APIs for network, data bases and hipertext, it became possible to the develop an Integrated Environment able to handle multicast traffic, which is the major objective of this work. This document describes the implementation of the above mentioned environment, which provides many functions to use and manage multicast traffic, functions which existed only in a limited way and just in few tools, normally the comercial ones. This environment is useful to different kinds of users, so that it can be used by common users, who want to join multimedia Internet sessions, as well as more advenced users such engineers and network administrators who may need to monitor and handle multicast traffic / Nas duas ?ltimas d?cadas do s?culo passado, com a consolida??o da Internet como rede mundial de computadores, aplica??es de fluxos mais robustos come?aram a surgir. A crescente uso de videoconfer?ncias impulsionou a cria??o de uma forma de transmiss?o ponto-multiponto chamada Multicast IP. Todas as empresas que desenvolviam software e hardware para videoconfer?ncia adequaram seus produtos e criaram novas solu??es para o uso do fluxo multicast. Entretanto, a configura??o das diversas solu??es n?o ? trivial e, normalmente, altera??es no sistema operacional precisam ser realizadas. Al?m disso, ferramentas gratuitas apresentam funcionalidades limitadas, e as solu??es propriet?rias encontradas na atualidade s?o muito dependentes de plataformas espec?ficas. Com o amadurecimento da tecnologia Multicast IP e com sua inclus?o em todos os sistemas operacionais atuais, as linguagens de programa??o desenvolveram classes capazes de manipular tr?fego multicast. Com as APIs Java para redes, banco de dados e p?ginas Web, tornou-se poss?vel a cria??o de um Ambiente Integrado capaz de manipular tr?fego multicast, que se constitui na proposta central deste trabalho. Esse documento descreve ent?o a implementa??o deste ambiente que agrega diversas funcionalidades para utiliza??o e ger?ncia de tr?fego multicast, funcionalidades at? ent?o presentes de forma limitada em poucas e distintas ferramentas comummente propriet?rias. O ambiente se adequa a diferentes perfis de usu?rio, no sentido de que pode ser usado por leigos em Engenharia de Redes, que desejem apenas participar de sess?es de multim?dia na Internet, como tamb?m por especialistas e administradores de rede que desejem monitorar e manipular o tr?fego multicast

Changes in the process of teaching and learning can be both useful and nonuseful to enhance students learning. This work tried to show that current teaching methods not always meet the needs efficiently when it comes to improve students skills. For that, it relied on experiments with Language Programming subject matter s students. It did so because such a subject matter poses questions whose answers can be answered freely because its codes can be written in many ways , while its assessment is dichotomic. Teacher s didactic procedures, methodology applied in classes, programming language, and the time taken to develop the work proposed were the categories considered in the research. In an experimental group of students, Robert Mager s theory was applied to compare their learning. In such theory, instructional aims are supposed to provide a statement on the information students will get and on their understanding and ability to use them after the course ends. Conclusion is that students skills and performance were improved, that is to say, that there was an increase of knowledge, which can be measured and presented graphically by Rasch model. / Mudanças no processo de ensino e aprendizagem podem ser tanto benéficas quanto ineficazes para o aprendizado do aluno. Este trabalho buscou mostrar que métodos de ensino atuais não suprem com eficiência a necessidade de melhorar as habilidades discentes. Para tanto, recorreram-se a experimentos com alunos da disciplina Linguagem de Programação porque esta apresenta questões cujas respostas são livres ou seja, porque os códigos podem ser feitos de diversas maneiras , enquanto a avaliação é dicotômica. Avaliaram-se os procedimentos didáticos do professor, a metodologia usada nas aulas, a linguagem de programação e o tempo usado para desenvolver o exercício proposto. Em uma das turmas experimentais, a teoria de Robert Mager foi aplicada para comparar o aprendizado dos alunos. Nessa teoria, os objetivos instrucionais preveem a declaração sobre o que o aluno vai receber de informação e se as compreendeu para ser capaz de usá-las após o término do curso. Concluiu-se que houve melhoria na habilidade e no desempenho dos alunos, isto é, aumento no conhecimento mensurável e demonstrável graficamente pelo modelo de Rasch. / Doutor em Ciências

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.

No description available.