The goal of this project was to create a self-fixing system for a mo-bile robot as a part of an assisted living system in a home. To accom-plish that, a new system has been generated in this project called SAS, comprising three steps: self-detection, anomaly-recognition, and self-modification. To be more detailed, the robot should 1) find itself in a mirror using vision sensor data; 2) recognize the presence of flaws in its detected image; and 3) act to deal with the flaws. To demonstrate this approach a specific scenario for the current work was chosen, involving a robot which consisted of a moving base, a camera, a robot arm, and a target to fix. The robot was designed to move around in a simplified intelligent home-like environment outfitted with a mirror and take advantage of the mirror to performself-fixing. As a conclusion, the proposed system (SAS) allowed a mobile robotsome ability to fix its exterior in one simplified context.

Undergraduate male and female students enrolled in an introductory behavior analysis course with minimal instruction on self-management were given modified exploratory logs to use in a self-management project. Students self-monitored behavior via the log, constructed their own interventions, and reported changes in behavior and extent of success in a write up at course end. Changes in self-reported descriptions in the logs as well as the written results of a pre and post survey of emotional responses were counted. Successful self-management project interventions were reported by most students. Correspondence between planned and actual events increased. Negative reinforcement procedures characterized most students' intervention. Correspondence between events at pre and post and actual log reports was highest at post.

Cette thèse porte en premier lieu sur l'analyse et le désassemblage de programmes malveillants utilisant certaines techniques d'obscurcissement telles que l'auto-modification et le chevauchement de code. Les programmes malveillants trouvés dans la pratique utilisent massivement l'auto-modification pour cacher leur code utile à un analyste. Nous proposons une technique d'analyse hybride qui utilise une trace d'exécution déterminée par analyse dynamique. Cette analyse découpe le programme auto-modifiant en plusieurs sous-parties non auto-modifiantes que nous pouvons alors étudier par analyse statique en utilisant la trace comme guide. Cette seconde analyse contourne d'autres techniques de protection comme le chevauchement de code afin de reconstruire le graphe de flot de contrôle du binaire analysé. Nous étudions également un détecteur de programmes malveillants, fonctionnant par analyse morphologique : il compare les graphes de flot de contrôle d'un programme à analyser à ceux de programmes connus comme malveillants. Nous proposons une formalisation de ce problème de comparaison de graphes, des algorithmes permettant de le résoudre efficacement et détaillons des cas concrets d'application à la détection de similarités logicielles / This dissertation explores tactics for analysis and disassembly of malwares using some obfuscation techniques such as self-modification and code overlapping. Most malwares found in the wild use self-modification in order to hide their payload from an analyst. We propose an hybrid analysis which uses an execution trace derived from a dynamic analysis. This analysis cuts the self-modifying binary into several non self-modifying parts that we can examine through a static analysis using the trace as a guide. This second analysis circumvents more protection techniques such as code overlapping in order to recover the control flow graph of the studied binary. Moreover we review a morphological malware detector which compares the control flow graph of the studied binary against those of known malwares. We provide a formalization of this graph comparison problem along with efficient algorithms that solve it and a use case in the software similarity field

Le but de cette thèse est de trouver des modèles de haut niveau dans lesquelles l'auto-modification s'exprime facilement. Une donnée est lisible et modifiable, alors qu'un programme est exécutable. On décrit une machine abstraite où cette dualité est structurellement mise en valeur. D'une part une zone de programmes contient tous les registres exécutables, et d'autre part une zone de données contient les registres lisibles et exécutables. L'auto-modification est permise par le passage d'un registre d'une zone à l'autre. Dans ce cadre, on donne une abstraction de l'exécution de la machine qui extrait seulement les informations d'auto-modification. Logiquement, on essaye de trouver une correspondance de Curry-Howard entre un langage avec auto-modification et un système logique. Dans ce but on construit une extension de lambda-calcul avec termes gelés, c'est à dire des termes qui ne peuvent se réduire. Ces termes sont alors considérés comme des données, et les autres sont les programmes. Notre langage a les propriétés usuelles du lambda-calcul (confluence). D'autre part, on donne un système de types dans lequel un sous ensemble des termes du langage peuvent s'exprimer. Ce système est inspiré de la Logique Linéaire, sans gestion des ressources. On prouve que ce système de types a de bonnes propriétés, comme celle de la réduction du sujet. Finalement, on étend le système avec les continuations et la double négation, dans un style à la Krivine / The goal of my Ph.D. is to finds high level models in which self-modification can be expressed. What is readable and changeable is a data, and a program is executable. We propose an abstract machine where this duality is structurally emphasized. On one hand the program zone beholds registers which can be executed, and on the other hand data zone contains readable and changeable registers. Self-modification is enabled by passing a data register into program zone, or a program register into data zone. In this case, we give an abstraction of executions which only extracts information about self-modifications: execution is cut into paths without self-modification. For the logical part, we tried to find a Curry-Howard correspondence between a language with self-modifications and logical world. For that we built an extension of lambda-calculus with frozen terms, noted <t>, that is, terms which cannot reduce. This terms are considered as data. Other terms are programs. We first prove that this language as expected properties like confluence. On the other hand, we found a type system where a subset of terms of this language can be expressed. Our type system is inspired by Linear Logic, without resources management. We prove that this system has good properties like subject reduction. We finally have extended the system with continuation and double negation. This extension can be expressed in a krivine style, using a machine inspired by krivine machine