Polymorphic bytecode instrumentation

Bytecode instrumentation is a widely used technique to implement aspect weaving and dynamic analyses in virtual machines such as the Java virtual machine. Aspect weavers and other instrumentations are usually developed independently and combining them often requires significant engineering effort, if at all possible. In this article, we present polymorphic bytecode instrumentation(PBI), a simple but effective technique that allows dynamic dispatch amongst several, possibly independent instrumentations. PBI enables complete bytecode coverage, that is, any method with a bytecode representation can be instrumented. We illustrate further benefits of PBI with three case studies. First, we describe how PBI can be used to implement a comprehensive profiler of inter‐procedural and intra‐procedural control flow. Second, we provide an implementation of execution levels for AspectJ, which avoids infinite regression and unwanted interference between aspects. Third, we present a framework for adaptive dynamic analysis, where the analysis to be performed can be changed at runtime by the user. We assess the overhead introduced by PBI and provide thorough performance evaluations of PBI in all three case studies. We show that pure Java profilers like JP2 can, thanks to PBI, produce accurate execution profiles by covering all code, including the core Java libraries. We then demonstrate that PBI‐based execution levels are much faster than control flow pointcuts to avoid interference between aspects and that their efficient integration in a practical aspect language is possible. Finally, we report that PBI enables adaptive dynamic analysis tools that are more reactive to user inputs than existing tools that rely on dynamic aspect‐oriented programming with runtime weaving. These experiments position PBI as a widely applicable and practical approach for combining bytecode instrumentations. © 2015 The Authors. Software: Practice and Experience Published by John Wiley & Sons Ltd.     

Development of a 3D HUD using a tunable bandpass filter for wavelength multiplexing

A 3D stereoscopic head‐up display using a tunable bandpass filter to perform left and right image spectral separation is presented. Using a single filter reduces the size and the cost of the head‐up display optical engine and enables each spectral band to be accurately tuned. Experiments performed on the first prototype demonstrate the ability to continuously tune the bandpass frequency on 30‐nm range while keeping a 20‐nm bandwidth. Such a system avoids the use of a bulky and costly rotating wheel and enables the use of holographic optical elements known to be wavelength selective.     

Road‐Centered Map‐Aided Localization for Driverless Cars Using Single‐Frequency GNSS Receivers

Accurate localization with high availability is a key requirement for autonomous vehicles. It remains a major challenge when using automotive sensors such as single‐frequency Global Navigation Satellite System (GNSS) receivers, a lane detection camera, and proprioceptive sensors. This paper describes a method that enables the estimation of stand‐alone single‐frequency GNSS errors by integrating the measurements from a forward‐looking camera matched with lane markings stored in a digital map. It includes a parameter identification method for a shaping model, which is evaluated using experimental data. An algebraic observability study is then conducted to prove that the proposed state vector is fully observable in a road‐oriented frame. This observability property is the basis to develop a road‐centered Extended Kalman filter (EKF) that can maintain the observability of every component of the state vector on any road, whatever its orientation. To accomplish this, the filter needs to handle road changes, which it does using bijective transformations. The filter was implemented and tested intensely on an experimental vehicle for driverless valet parking services. Field results have shown that the performance of the estimation process is better than solutions based on EKF implemented in a fixed working frame. The proposed filter guarantees that the drift along the road direction remains bounded. This is very important when the vehicle navigates autonomously. Furthermore, the road‐centered modeling improves the accuracy, consistency, and robustness of the localization solver.     

Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability.     

Dialogue in context, towards a referential approach in collective learning

In this article, we present research in the making of a collective work environment within the framework of a distance education course. We base our theoretical and methodological standpoints on examples of dialogical discourses recorded within the framework of this CSCL system called Symba. In fact, the results of previous research lead us to rethink our vision of the study of collaborative moments between participants in a computer-supported human learning environment that proposes several communication tools. Redefining the methodological process aiming at finding and understanding these rich learning moments is also necessary. We intend to describe “socio-technical” instances during which these collaboration phases appear. More generally speaking, our aim is to draw up both new theoretical and methodological perspectives that would be reusable in CSCL environments; in view of the nature of these two perspectives, and the diversity of the domain knowledge (sociology, cognitivism, linguistics, philosophy, statistics, etc.) brought to bear in the study of the environment in question, our approach constitutes a trans-disciplinary reassessment of the uses of the communication tools—and the study thereof—proposed.

Misfit versus latency

In this paper we present a framework that combines some ideas of the behavioral modeling approach and the prediction error modeling approach. It is shown that the proposed model selection procedure can be rephrased as an optimization problem that only depends on the model parameters. Experiments illustrate the potential of the so-called misfit versus latency framework.     

Phylogeny of trichomonads based on partial sequences of large subunit rRNA and on cladistic analysis of morphological data

Several domains of large subunit rRNA from nine trichomonad species have been sequenced. Molecular phylogenies obtained with parsimony and distance methods demonstrate the trichomonads are a monophyletic group which branches very early in the eukaryotic tree. The topology of the trees is in general agreement with traditional views on evolutionary and systematic relationships of trichomonads. A clear dichotomy is noted between the subfamily Trichomonadinae and the subfamily Tritrichomonadinae. In the latter subfamily, a second division separates the "Tritrichomonas muris-type" species from the "Tritrichomonas augusta-type" ones. Previous evolutionary schemes in which the Monocercomonadidae were regarded as the most "primitive" and the Trichomonadidae as more "evolved" are not in agreement with our molecular data. The emergence of Monocercomonas and Hypotrichomonas at the base of the Tritrichomonas lineage suggests a secondary loss of some cytoskeletal structures, the costa and undulating membrane in these genera. This is corroborated by the early branching position of Trichomitus, which possesses a costa and an undulating membrane and has usually been placed among the Trichomonadidae on the basis of cytological characters. A cladistic analysis was applied to the available morphological characters in order to produce a hierarchical grouping of the taxa reflecting their morphological diversity.     

A Novel Surface Reconstruction and Display Method for Cardiac PET Imaging

Positron emission tomography (PET) allows the in vivo assessment of biochemical activity in humans. The newer PET cameras can create several imaging planes, or slices, through an organ inside the body. The interpretation of two-dimensional (2-D) slices of an organ is often difficult for the clinician since he or she has to form a three-dimensional (3-D) mental composite of the structure of interest. We have developed a set of algorithms to reconstruct a functional three-dimensional surface model of the cardiac left ventricle from a set of two-dimensional cross-sectional image slices generated by PET. The theoretical techniques for this reconstruction method are applicable to most organs provided that the appropriate models for the organs are considered. An automatic boundary detection algorithm outlines the surface of the left ventricle from the 2-D images and assigns intensity values to the surface points whose level is proportional to the local activity. A 3-D surface of the intensity levels, with pseudocolor enhancement, is then displayed with the long axis of the heart in a vertical position. Such a display allows the 3-D myocardial tracer uptake to be clearly visualized by the clinician for better diagnosis.     

Orphan gene finding—an exon assembly approach

This paper introduces an algorithm for finding eukaryotic genes. It particularly addresses the problem of orphan genes, that is of genes that cannot, based on homology alone, be connected to any known gene family and to which it is therefore not possible to apply traditional gene finding methods. To the best of our knowledge, this is also the first algorithm that attempts to compare in an exact way two DNA sequences that contain both coding (i.e. exonic) and non-coding (i.e. intronic and, possibly, intergenic) parts. The comparison is performed following an algorithmical model of a gene that is as close as possible to the biological one (we consider in this paper the “one ORF, one gene” problem only). A gene is seen as a set of exons that are pieces of an assembly and are not independent. The algorithm is efficient enough: although the constants are higher than for usual sequence comparison, its time complexity is proportional to the product of the sequences lengths while its space complexity scales linearly with the length of the smallest sequence.