diff --git a/AUTHORS b/AUTHORS
index f766ee26eb699f9278a4b1b9c43a62915683c770..77602e7259d8ffa15fc5a29e199076e95990bedb 100644
--- a/AUTHORS
+++ b/AUTHORS
@@ -1 +1 @@
-Authors: 
+Authors: Nicolas Mansard, Olivier Stasse, François Keith, François Bleibel 
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d202d299414871ef89b9a16445cb1cb12ff70fa2..7c1ee5a7f08f58b2fc1eb3b25ba3b850d496ccc3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -107,7 +107,6 @@ MESSAGE(STATUS "Boost thread lib name: ${BOOST_THREAD_LIB_NAME} ${Boost_THREAD_L
 INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
 
-
 #
 # Look for dependencies
 #
@@ -144,8 +143,11 @@ INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/dynamic-graph.pc
   DESTINATION ${install_libdir_pkgconfig}	
   PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
 
+ENABLE_TESTING()
+
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(include)
+ADD_SUBDIRECTORY(tools)
 ADD_SUBDIRECTORY(unitTesting)
 
 #
diff --git a/README b/README
index 4818b748141f7df167bc31744f5901432d918afd..8088615b8df0911bd86f84092de1049f1c3b41e5 100644
--- a/README
+++ b/README
@@ -1 +1,7 @@
-See INSTALL for installation instruction.
+See INSTALL for installation instructions.
+
+The dynamic-graph library is a framework to create dynamic 
+graphs of generic entities connected together by signals,
+with helper facilities such as signal casters, an object
+factory and an object pool. It is a spin-off and was
+originally part of the StackOfTasks library.
diff --git a/doc/additionalDoc/package.h b/doc/additionalDoc/package.h
index be875a22a84afe1c0dc4f32849c7e686798ff574..5ff74320d890ee1449a0cd20e4914622fd370664 100644
--- a/doc/additionalDoc/package.h
+++ b/doc/additionalDoc/package.h
@@ -29,9 +29,9 @@ at the command line.
 
 The public static objects (singletons) made available by including the
 corresponding headers in this module are:
-\li factory: FactoryStorage
-\li pool: PoolStorage
-\li Shell: Interpreter
+\li g_factory: FactoryStorage
+\li g_pool: PoolStorage
+\li g_shell: Interpreter
 
 \image html pictures/use-case.svg
 
diff --git a/include/dynamic-graph/all-signals.h b/include/dynamic-graph/all-signals.h
index 82f3175b22938db2fa42a1e7a06dd323c7bc8a6b..c305effc32ecdd4a2334758b246644cb206b20b4 100644
--- a/include/dynamic-graph/all-signals.h
+++ b/include/dynamic-graph/all-signals.h
@@ -2,18 +2,16 @@
  * all-signals.h
  *
  *  Created on: Jun 16, 2010
- *      Author: blue
+ *      Author: Francois Bleibel
  */
 
 #ifndef ALLSIGNALS_H_
 #define ALLSIGNALS_H_
 
-/// Utility header files including all signals and using namespace dynamicgraph
+/// Utility header files including all signal headers
 
 #include <dynamic-graph/signal.h>
 #include <dynamic-graph/signal-ptr.h>
 #include <dynamic-graph/signal-time-dependant.h>
 
-using namespace dynamicgraph;
-
 #endif /* ALLSIGNALS_H_ */
diff --git a/include/dynamic-graph/contiifstream.h b/include/dynamic-graph/contiifstream.h
index b1bacb120f2010b1ea7b4ec884eb96d81c3f008b..583aa232f1a23db05f701a585352fd588c8f17fd 100644
--- a/include/dynamic-graph/contiifstream.h
+++ b/include/dynamic-graph/contiifstream.h
@@ -2,8 +2,8 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      sotContiifstream.h
- * Project:   SOT
+ * File:      Contiifstream.h
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -45,17 +45,17 @@
 
 #if defined (WIN32) 
 #  if defined (sotContiifstream_EXPORTS)
-#    define SOTCONTIIFSTREAM_EXPORT __declspec(dllexport)
+#    define DYNAMICGRAPHCONTIIFSTREAM_EXPORT __declspec(dllexport)
 #  else  
-#    define SOTCONTIIFSTREAM_EXPORT __declspec(dllimport)
+#    define DYNAMICGRAPHCONTIIFSTREAM_EXPORT __declspec(dllimport)
 #  endif 
 #else
-#  define SOTCONTIIFSTREAM_EXPORT
+#  define DYNAMICGRAPHCONTIIFSTREAM_EXPORT
 #endif
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-class SOTCONTIIFSTREAM_EXPORT sotContiifstream
+class DYNAMICGRAPHCONTIIFSTREAM_EXPORT Contiifstream
 {
 protected:
   std::string filename;
@@ -66,8 +66,8 @@ protected:
   bool first;
  
 public: /* --- Constructor --- */
-  sotContiifstream( const std::string& n="" );
-  ~sotContiifstream( void );
+  Contiifstream( const std::string& n="" );
+  ~Contiifstream( void );
   void open( const std::string& n ) { filename=n; cursor=0; }
   
 public: /* --- READ FILE --- */
diff --git a/include/dynamic-graph/entity.h b/include/dynamic-graph/entity.h
index b1266492df22993081c69cd90e5123a0a30a4e6c..568ed017f43e8bb4493a3933777841a5e2556712 100644
--- a/include/dynamic-graph/entity.h
+++ b/include/dynamic-graph/entity.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      entity.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -26,7 +26,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* SOT */
+/* DYNAMIC-GRAPH */
 #include <dynamic-graph/signal-base.h>
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/signal-array.h>
@@ -52,7 +52,7 @@ namespace dynamicgraph {
 
   These signals link the entities together to form a complete computation graph.
   To declare a new entity, please see the DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN macro
-  in factory.h.
+  in g_factory.h.
   A command-line interface provided by the entity can be used by a sot shell to
   call methods from entities and display the result of their execution.
   Classes that derive from Entity can customize the command-line by overriding commandLine().
diff --git a/include/dynamic-graph/exception-abstract.h b/include/dynamic-graph/exception-abstract.h
index 2b2acfa243a2abaf62e51c917223784559b53eec..98c069667f0cce0d1f61868348ae273dc51560b9 100644
--- a/include/dynamic-graph/exception-abstract.h
+++ b/include/dynamic-graph/exception-abstract.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      exception-abstract.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -33,7 +33,7 @@
 
 
 // Uncomment this macros to have lines parameter on the throw display
-// #define SOT_EXCEPTION_PASSING_PARAM 
+// #define DYNAMIC-GRAPH_EXCEPTION_PASSING_PARAM 
 
 /* --------------------------------------------------------------------- */
 /* --- CLASS ----------------------------------------------------------- */
@@ -91,7 +91,7 @@ public:
   DYNAMICGRAPH_EXPORT friend std::ostream & operator << (std::ostream & os,
 				     const ExceptionAbstract & err);
 
-#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
  public:
   class Param
     {
@@ -120,7 +120,7 @@ public:
   template<class Exc>
     friend Exc& operator+ ( const ExceptionAbstract::Param& p, Exc& e )
     { e.p.initCopy(p);   return e;    }
-#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#endif //#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 };
 
 } // namespace dynamicgraph
@@ -129,11 +129,11 @@ public:
 
 
 
-#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM
 #  define DG_THROW throw ExceptionAbstract::Param(__LINE__,__FUNCTION__,__FILE__) +
-#else //#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#else //#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 #  define DG_THROW throw
-#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#endif //#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 
 
 #endif /* #ifndef __ABSTRACT_EXCEPTION_H */
diff --git a/include/dynamic-graph/exception-factory.h b/include/dynamic-graph/exception-factory.h
index ea5f60e0506ffa9acfc45c496531fc46d6c195f2..20176761144ffac4fae6eb4e9ae05a6966bb0109 100644
--- a/include/dynamic-graph/exception-factory.h
+++ b/include/dynamic-graph/exception-factory.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      sotExceptionFactory.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/exception-signal.h b/include/dynamic-graph/exception-signal.h
index 9834b31c0f2724692b8da17b25b45c9495125b42..fb3d272c17594092385cba934deb7f287b031d0b 100644
--- a/include/dynamic-graph/exception-signal.h
+++ b/include/dynamic-graph/exception-signal.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      sotexception-signal.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/factory.h b/include/dynamic-graph/factory.h
index bb679d06be2bd5feec76da738a85bc7bd70565e8..13d5a63451a7fa940026116d69a2454dc1e7818c 100644
--- a/include/dynamic-graph/factory.h
+++ b/include/dynamic-graph/factory.h
@@ -2,8 +2,8 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      factory.h
- * Project:   SOT
+ * File:      g_factory.h
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -30,7 +30,7 @@
 #include <map>
 #include <string>
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/dynamic-graph-api.h>
 
@@ -78,7 +78,7 @@ class DYNAMICGRAPH_EXPORT FactoryStorage
 
 };
 
-DYNAMICGRAPH_EXPORT extern FactoryStorage factory;
+DYNAMICGRAPH_EXPORT extern FactoryStorage g_factory;
 
 /* --- REGISTERER ----------------------------------------------------------- */
 /* --- REGISTERER ----------------------------------------------------------- */
@@ -105,8 +105,8 @@ class DYNAMICGRAPH_EXPORT EntityRegisterer
 };
 
 /*! This macro should be used to automatically register an entity
- * of classType to the factory. It is then possible to create it
- * with the factory.
+ * of classType to the g_factory. It is then possible to create it
+ * with the g_factory.
  */
 #define DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(classType,className) \
   const std::string classType::CLASS_NAME = className; \
diff --git a/include/dynamic-graph/interpreter.h b/include/dynamic-graph/interpreter.h
index e2aff77d5beb48f9d9677661cb171691a3085bc6..756963427b47efe62c27347ccfcbfbb201b090b2 100644
--- a/include/dynamic-graph/interpreter.h
+++ b/include/dynamic-graph/interpreter.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      interpreter.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -26,7 +26,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* SOT */
+/* DYNAMIC-GRAPH */
 #include <dynamic-graph/signal-base.h>
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/pool.h>
@@ -185,7 +185,7 @@ class DYNAMICGRAPH_EXPORT Interpreter
 /* -------------------------------------------------------------------------- */
 
 /*! \brief Class for automatic registration of shell functions.
- * Use the macro SOT_SHELL_FUNCTION_REGISTERER(name, fun) in a .cpp file
+ * Use the macro DYNAMIC-GRAPH_SHELL_FUNCTION_REGISTERER(name, fun) in a .cpp file
  * to register functions on plugin load.
  */
 class DYNAMICGRAPH_EXPORT ShellFunctionRegisterer
@@ -201,7 +201,7 @@ public:
 	ShellFunctionRegisterer reg( name,boost::bind(fun,_1,_2,_3) );\
   }
 
-DYNAMICGRAPH_EXPORT extern Interpreter Shell;
+DYNAMICGRAPH_EXPORT extern Interpreter g_shell;
 
 } // namespace dynamicgraph
 
diff --git a/include/dynamic-graph/plugin-loader.h b/include/dynamic-graph/plugin-loader.h
index 8fbf85925ab55e0798454868d5964d0b30119c3b..f86f63537d26abf628cc380e4bbda9ffcde0a327 100644
--- a/include/dynamic-graph/plugin-loader.h
+++ b/include/dynamic-graph/plugin-loader.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      plugin-loader.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -31,7 +31,7 @@
 #include <string>
 #include <map>
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/dynamic-graph-api.h>
 
diff --git a/include/dynamic-graph/pool.h b/include/dynamic-graph/pool.h
index d9d41d1bfe9b77669bc730a06de46f0d2b424fd5..aed4aeb2fb146a26bec978125b98afedf9102eb1 100644
--- a/include/dynamic-graph/pool.h
+++ b/include/dynamic-graph/pool.h
@@ -2,8 +2,8 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      pool.h
- * Project:   SOT
+ * File:      g_pool.h
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -29,7 +29,7 @@
 #include <string>
 #include <sstream>
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/signal-base.h>
 #include <dynamic-graph/dynamic-graph-api.h>
@@ -119,8 +119,8 @@ class DYNAMICGRAPH_EXPORT PoolStorage
     If the method of the object displays some information this will
     be done on os.
 
-    The commands specific to the <b>pool<\b> object are:
-    \li <b>list</b> : List all the entities registered in the pool.s
+    The commands specific to the <b>g_pool<\b> object are:
+    \li <b>list</b> : List all the entities registered in the g_pool.s
   */
   void commandLine( const std::string& objectName,const std::string& functionName,
 		    std::istringstream& cmdArg, std::ostream& os );
@@ -130,7 +130,7 @@ class DYNAMICGRAPH_EXPORT PoolStorage
   void writeCompletionList(std::ostream& os);
 };
 
-DYNAMICGRAPH_EXPORT extern dynamicgraph::PoolStorage pool;
+DYNAMICGRAPH_EXPORT extern dynamicgraph::PoolStorage g_pool;
 
 }  // namespace dynamicgraph
 
diff --git a/include/dynamic-graph/shell-functions.h b/include/dynamic-graph/shell-functions.h
index 6bbd73af348e7075152e3141a2f7ca372d8b2f55..5a9286d2d2d13ddb034bf2092292426769fc7e14 100644
--- a/include/dynamic-graph/shell-functions.h
+++ b/include/dynamic-graph/shell-functions.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      shell-functions.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -26,7 +26,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* SOT */
+/* DYNAMIC-GRAPH */
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/interpreter.h>
 
@@ -94,4 +94,4 @@ class SHELLFUNCTIONS_EXPORT ShellFunctions
 };
 
 
-#endif //#ifndef __SOT_SHELL_FUNCTIONS_HH__
+#endif //#ifndef __DYNAMIC-GRAPH_SHELL_FUNCTIONS_HH__
diff --git a/include/dynamic-graph/shell-procedure.h b/include/dynamic-graph/shell-procedure.h
index 6343c96388ada6d72e6d6a820bb71574bf5de268..0ef75a924043934668ef727992ee4e2a81898a60 100644
--- a/include/dynamic-graph/shell-procedure.h
+++ b/include/dynamic-graph/shell-procedure.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      shell-procedure.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -26,7 +26,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* SOT */
+/* DYNAMIC-GRAPH */
 #include <dynamic-graph/exception-factory.h>
 #include <dynamic-graph/interpreter.h>
 
@@ -74,18 +74,18 @@ class ShellProcedure_EXPORT ShellProcedure
     std::vector<std::string> args;
     std::vector<int> params;
   };
-  struct sotProcedure {
+  struct Procedure {
     std::list< Instruction > instructions;
     std::vector< std::string > params;
     void clear() { instructions.clear(); params.clear(); }
   };
-  typedef std::map< std::string,sotProcedure > ProcedureList;
+  typedef std::map< std::string,Procedure > ProcedureList;
 
  public:
   std::string procName;
   ProcedureList procedureList;
 
-  sotProcedure currentProc;
+  Procedure currentProc;
 
  public:
   
@@ -104,4 +104,4 @@ class ShellProcedure_EXPORT ShellProcedure
 
 
 
-#endif //#ifndef __SOT_SHELL_PROCEDURE_HH__
+#endif //#ifndef __DYNAMIC-GRAPH_SHELL_PROCEDURE_HH__
diff --git a/include/dynamic-graph/signal-array.h b/include/dynamic-graph/signal-array.h
index d4293400d2693a7ce8cf48a47a162712b96c309d..2a4d53a394813cd6375efe682de0bc9ac55281ab 100644
--- a/include/dynamic-graph/signal-array.h
+++ b/include/dynamic-graph/signal-array.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      SignalArray.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -85,15 +85,6 @@ class SignalArray_const
   virtual const SignalBase<Time>& operator[] ( const unsigned int& idx ) const
     { return *const_array[idx];   }
   virtual unsigned int getSize( void ) const { return rank; }
-
-/*   SignalArray_const<Time>& operator= ( SignalArray<Time> & siga ) */
-/*     { */
-/*       for( unsigned int i=0;i<rank;++i ) const_array[i]=&siga[i];  */
-/*       rank=siga.getSize(); */
-/*     } */
-    
-
-  //  friend class SignalArray<Time>;
 };
 
 
@@ -173,7 +164,12 @@ class SignalArray
 template<class Time>
 SignalArray<Time> operator<<( SignalBase<Time>& sig1,
 				 SignalBase<Time>& sig2 )
-{ SignalArray<Time> res(20); res<<sig1; res<<sig2; return res;}
+{
+	SignalArray<Time> res(20);
+	res<<sig1;
+	res<<sig2;
+	return res;
+}
 
 	DYNAMICGRAPH_EXPORT extern SignalArray<int> sotNOSIGNAL;
 
diff --git a/include/dynamic-graph/signal-base.h b/include/dynamic-graph/signal-base.h
index dc7d8167c4f0572d895f399a7401bbf6ede85f4a..09b2c404ca94bca74da4abb92e30b866a0d0881b 100644
--- a/include/dynamic-graph/signal-base.h
+++ b/include/dynamic-graph/signal-base.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      signal-base.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/signal-caster.h b/include/dynamic-graph/signal-caster.h
index 3c5700c4ddf5ef8e57f2ca5ad7280cdb7d53f4d8..1f65c7355290193d8e68eee8af0de34033132115 100644
--- a/include/dynamic-graph/signal-caster.h
+++ b/include/dynamic-graph/signal-caster.h
@@ -2,7 +2,7 @@
  * SignalCaster.h
  *
  *  Created on: Jun 14, 2010
- *      Author: blue
+ *      Author: Francois Bleibel
  */
 
 #ifndef SIGNALCASTER_H_
diff --git a/include/dynamic-graph/signal-ptr.h b/include/dynamic-graph/signal-ptr.h
index 9506765c2eb9787f225b88e76edf5c9d8bac3f1b..94799d4b6dac259ccf0d42939296160c6af919e6 100644
--- a/include/dynamic-graph/signal-ptr.h
+++ b/include/dynamic-graph/signal-ptr.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      SignalPtr.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/signal-ptr.t.cpp b/include/dynamic-graph/signal-ptr.t.cpp
index 4763128256425633cbe64c9387fa6c597466c1c4..a0bcd64067ce7aa5862836d3a7220cfd426b7633 100644
--- a/include/dynamic-graph/signal-ptr.t.cpp
+++ b/include/dynamic-graph/signal-ptr.t.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      SignalPtr.t.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -29,7 +29,7 @@
 #define VP_TEMPLATE_DEBUG_MODE 0
 #include <dynamic-graph/debug.h>
 
-using namespace dynamicgraph;
+namespace dynamicgraph {
 
 template< class T,class Time >
 bool SignalPtr<T,Time>::
@@ -262,6 +262,7 @@ displayDependancies( std::ostream& os,const int depth,
   return os;
 }
 
+} // namespace dynamicgraph
 
 #endif // #ifndef __SIGNAL_PTR_TCPP
 
diff --git a/include/dynamic-graph/signal-time-dependant.h b/include/dynamic-graph/signal-time-dependant.h
index 06cbc09d92ce35a3a859fad717e57505a3fe2b15..0d08eaa1f8442ad0ba5609d36cf56fb2e1fb9ba1 100644
--- a/include/dynamic-graph/signal-time-dependant.h
+++ b/include/dynamic-graph/signal-time-dependant.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      signal-time-dependant.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/signal.h b/include/dynamic-graph/signal.h
index 551c46efc2de1b75167307bcbdc92628ddcdd7e5..9c0e3e92f0dcbca048919746229f795a1a80dfb5 100644
--- a/include/dynamic-graph/signal.h
+++ b/include/dynamic-graph/signal.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      Signal.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/include/dynamic-graph/signal.t.cpp b/include/dynamic-graph/signal.t.cpp
index f6859b97518b83a2200294f5185100dac2bf52e9..0d00e7d2886ab8a7ab1c8f7c3358d872b1749a93 100644
--- a/include/dynamic-graph/signal.t.cpp
+++ b/include/dynamic-graph/signal.t.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      Signal.t.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -30,7 +30,7 @@
 #define VP_TEMPLATE_DEBUG_MODE 0
 #include <dynamic-graph/debug.h>
 
-using namespace dynamicgraph;
+namespace dynamicgraph {
 
 #define __SIGNAL_INIT(name,Tcpy,Tref,TrefNC,mutex)  \
      SignalBase<Time>(name)               \
@@ -327,6 +327,8 @@ display (std::ostream& os) const
   return os<<")";
 }
 
+} // namespace dynamicgraph
+
 #endif // #ifndef __SIGNAL_TEMPLATE
 
 /*
diff --git a/include/dynamic-graph/time-dependency.h b/include/dynamic-graph/time-dependency.h
index aabb3be422fc84a4645a101a56e3344e60a807e1..3a4f1ec3a82c19396e45f3c5551b24ebdc564683 100644
--- a/include/dynamic-graph/time-dependency.h
+++ b/include/dynamic-graph/time-dependency.h
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      TimeDependancy.h
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -29,6 +29,9 @@
 #include <dynamic-graph/signal-base.h>
 #include <dynamic-graph/signal-array.h>
 
+namespace dynamicgraph {
+
+
 template< class Time >
 class TimeDependancy
 {
@@ -90,6 +93,9 @@ class TimeDependancy
 
 };
 
+} // namespace dynamicgraph
+
+
 #include <dynamic-graph/time-dependency.t.cpp>
 
 #endif /* #ifndef __TIME_DEPENDANCY_HH */
diff --git a/include/dynamic-graph/time-dependency.t.cpp b/include/dynamic-graph/time-dependency.t.cpp
index 9df41c31a4f7c9c90e38f3523758b51850062237..de3000f681d78780ba394f55d2a40f1d1c302f5a 100644
--- a/include/dynamic-graph/time-dependency.t.cpp
+++ b/include/dynamic-graph/time-dependency.t.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      TimeDependancy.t.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -25,7 +25,7 @@
 
 #include <dynamic-graph/time-dependency.h>
 
-using namespace dynamicgraph;
+namespace dynamicgraph {
 
 #undef VP_TEMPLATE_DEBUG_MODE
 #define VP_TEMPLATE_DEBUG_MODE 0
@@ -176,7 +176,7 @@ displayDependancies( std::ostream& os,const int depth,
   return os;
 }
 
-
+} // namespace dynamicgraph
 
 #endif /* #ifndef __TIME_DEPENDANCY_TCPP */
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4d63eb70237293e23d8629e20f3ed88e15c4735f..25e674bb23e5c65288834919781cfb5be0782394 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -43,8 +43,8 @@ INSTALL(TARGETS ${LIBRARY_NAME}
 ### Plugins
 ####################################
 SET(plugins_list 
-	dgraph/shell-functions
-	dgraph/shell-procedure
+	plugins/shell-functions
+	plugins/shell-procedure
 	debug/contiifstream
 )
 
diff --git a/src/debug/contiifstream.cpp b/src/debug/contiifstream.cpp
index 8118db0c5ffa060f6a815d4b9e349ff4b375a0e4..78c35579f6e07eaa86ab2514982bfb1988a61041 100644
--- a/src/debug/contiifstream.cpp
+++ b/src/debug/contiifstream.cpp
@@ -2,8 +2,8 @@
  * Copyright Projet JRL-Japan, 2007
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
- * File:      sotContiifstream.cpp
- * Project:   SOT
+ * File:      Contiifstream.cpp
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -20,19 +20,19 @@
 #include <dynamic-graph/contiifstream.h>
 #include <dynamic-graph/debug.h>
 
-sotContiifstream::
-sotContiifstream( const std::string& n )
+Contiifstream::
+Contiifstream( const std::string& n )
   :filename(n),cursor(0),first(true) {}
 
 
-sotContiifstream::
-~sotContiifstream( void )
+Contiifstream::
+~Contiifstream( void )
 {
   dgDEBUGINOUT(5);
 }
 
 
-bool sotContiifstream::
+bool Contiifstream::
 loop( void )
 {
   dgDEBUGIN(25);
@@ -64,7 +64,7 @@ loop( void )
 }
 
 std::string 
-sotContiifstream::next( void ) 
+Contiifstream::next( void ) 
 {
   std::string res = *reader.begin();
   reader.pop_front();
diff --git a/src/debug/debug.cpp b/src/debug/debug.cpp
index 0f9ad48584aa563a8f4388fdefcc1ce36fca040b..e7b47ee1e52f85bf30650d6074f55a91724908cd 100644
--- a/src/debug/debug.cpp
+++ b/src/debug/debug.cpp
@@ -53,13 +53,13 @@ const char * DebugTrace::DEBUG_FILENAME_DEFAULT = "/tmp/traces_dynamicgraph.txt"
 #endif	/*WIN32*/
 #else
 std::ofstream dg_debugfile; //( "/dev/null", std::ios::trunc&std::ios::out );
- class __dgDebug_init
+ class dgDebug_init
  {
  public:
-   __dgDebug_init( void )
+   dgDebug_init( void )
      { dg_debugfile.setstate( std::ios::failbit ) ; /* dg_debugfile.close(); */ }
  };
- __dgDebug_init __dgDebug_initialisator;
+ dgDebug_init dgDebug_initialisator;
 
 #endif
 
diff --git a/src/dgraph/entity.cpp b/src/dgraph/entity.cpp
index 6503c5f48b926d33518f6f4e4ead5a1eb41cd86a..a2c27f41579c588acf03f80dbead763360d9c94a 100644
--- a/src/dgraph/entity.cpp
+++ b/src/dgraph/entity.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      entity.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -39,13 +39,13 @@ entityRegistration( void )
 {
   
   //sotPool.entity[name] = this;
-  pool.registerEntity(name,this);
+  g_pool.registerEntity(name,this);
 }
 
 void Entity::
 entityDeregistration( void ) 
 {
-  pool.deregisterEntity(name);
+  g_pool.deregisterEntity(name);
 }
 
 Entity::
diff --git a/src/dgraph/factory.cpp b/src/dgraph/factory.cpp
index 758f1664638c8c53b6f63331a75074af76dded2b..a8e5872d2f707c18a00abac6bc34d879801e5402 100644
--- a/src/dgraph/factory.cpp
+++ b/src/dgraph/factory.cpp
@@ -3,8 +3,8 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      factory.cpp
- * Project:   SOT
- * Author:    François Bleibel (from Nicolas Mansard)
+ * Project:   DYNAMIC-GRAPH
+ * Author:    François Bleibel, Nicolas Mansard
  *
  * Version control
  * ===============
@@ -22,7 +22,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/debug.h>
 #include <dynamic-graph/factory.h>
 
@@ -52,7 +52,7 @@ registerEntity( const std::string& entname,FactoryStorage::EntityConstructor_ptr
     {
 //       DG_THROW ExceptionFactory( ExceptionFactory::OBJECT_CONFLICT,
 // 				 "Another entity class already defined with the same name. ",
-// 				 "(while adding entity class <%s> inside the factory).",
+// 				 "(while adding entity class <%s> inside the g_factory).",
 // 				 entname.c_str() );
       dgERRORF("Another entity class already defined with the same name. "
 		"(while adding entity class <%s> inside the factory).",
@@ -127,7 +127,7 @@ EntityRegisterer( const std::string& entityClassName,
   :entityName( entityClassName )
 {
   dgDEBUGIN(15);
-  factory.registerEntity(entityClassName,maker);
+  g_factory.registerEntity(entityClassName,maker);
   dgDEBUGOUT(15);
 }
 
@@ -136,7 +136,7 @@ EntityRegisterer::
 {
   dgDEBUGIN(15);
 
-  factory.deregisterEntity(entityName);
+  g_factory.deregisterEntity(entityName);
 
   dgDEBUGOUT(15);
 }
@@ -174,6 +174,6 @@ commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
 }
 
 namespace dynamicgraph {
-	//! The global factory object.
-	FactoryStorage factory;
+	//! The global g_factory object.
+	FactoryStorage g_factory;
 }
diff --git a/src/dgraph/interpreter.cpp b/src/dgraph/interpreter.cpp
index 133e42f6f0ec7e9b81cf533c30f457ae160f35e3..92bde1d568aa1bb3863b7f57ce145850b7a87869 100644
--- a/src/dgraph/interpreter.cpp
+++ b/src/dgraph/interpreter.cpp
@@ -3,8 +3,8 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      interpretor.cpp
- * Project:   SOT
- * Author:    François Bleibel (from Nicolas Mansard)
+ * Project:   DYNAMIC-GRAPH
+ * Author:    François Bleibel, Nicolas Mansard
  *
  * Version control
  * ===============
@@ -22,7 +22,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* SOT */
+/* DYNAMIC-GRAPH */
 #include <dynamic-graph/interpreter.h>
 #include <dynamic-graph/plugin-loader.h>
 #include <dynamic-graph/debug.h>
@@ -121,12 +121,12 @@ cmdPlug( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os )
     }
 
   dgDEBUG(20) << "Get Ent1 <"<<obj1<<"> ."<<endl;
-  Entity& ent1 = pool.getEntity(obj1);
+  Entity& ent1 = g_pool.getEntity(obj1);
   dgDEBUG(20) << "Get Sig1 <"<<fun1<<"> ."<<endl;
   SignalBase<int> &sig1 = ent1.getSignal(fun1);
 
   dgDEBUG(20) << "Get Ent2 <"<<obj2<<"> ."<<endl;
-  Entity& ent2 = pool.getEntity(obj2);
+  Entity& ent2 = g_pool.getEntity(obj2);
   dgDEBUG(20) << "Get Sig2 <"<<fun2<<"> ."<<endl;
   SignalBase<int> &sig2 = ent2.getSignal(fun2);
 
@@ -147,10 +147,10 @@ cmdNew( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os )
   string objName;
   cmdArg >> className >>objName;
   dgDEBUG(15) << "New <" << className<<"> requested."<<endl;
-  if( factory.existEntity( className ) )
+  if( g_factory.existEntity( className ) )
     {
       dgDEBUG(15) << "New entity<"<<className<<"> " <<objName<<std::endl;
-      factory.newEntity(className,objName);
+      g_factory.newEntity(className,objName);
     }
   else os << "  !! Class <" << className << "> does not exist."<<endl;
 }
@@ -167,7 +167,7 @@ cmdDestroy( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os
     }
   string objName;  cmdArg >> objName;
   dgDEBUG(15) << "Destroy <" << objName <<"> requested."<<endl;
-  delete &( pool.getEntity( objName ) );
+  delete &( g_pool.getEntity( objName ) );
 
 }
 
@@ -334,7 +334,7 @@ cmdSetSignal( const std::string& cmdLine, std::istringstream& cmdArg, std::ostre
 
   string objname,signame;
   objectNameParser(cmdArg,objname,signame);
-  Entity& obj = pool.getEntity(objname);
+  Entity& obj = g_pool.getEntity(objname);
   SignalBase<int>& sig = obj.getSignal( signame );
 
   cmdArg >> ws;
@@ -357,7 +357,7 @@ cmdGetSignal( const std::string& cmdLine, std::istringstream& cmdArg, std::ostre
 
   string objname,signame;
   objectNameParser(cmdArg,objname,signame);
-  Entity& obj = pool.getEntity(objname);
+  Entity& obj = g_pool.getEntity(objname);
   SignalBase<int>& sig = obj.getSignal( signame );
 
   os << signame << " = "; sig.get( os );
@@ -379,7 +379,7 @@ cmdComputeSignal( const std::string& cmdLine, std::istringstream& cmdArg, std::o
 
   string objname,signame;
   objectNameParser(cmdArg,objname,signame);
-  Entity& obj = pool.getEntity(objname);
+  Entity& obj = g_pool.getEntity(objname);
   SignalBase<int>& sig = obj.getSignal( signame );
 
   int time; cmdArg >> std::ws;
@@ -407,7 +407,7 @@ cmd( const std::string& cmdLine, istringstream& cmdArg, std::ostream& os )
   else if( objectNameParser( cmdparse,obj,fun ) )
     {
    dgDEBUG(15) << "Object <" << obj<< "> function <"<<fun<<">"<<endl;
-   pool.commandLine( obj,fun,cmdArg,os );
+   g_pool.commandLine( obj,fun,cmdArg,os );
   }
   else
     {
@@ -486,7 +486,7 @@ ShellFunctionRegisterer( const std::string& funName,
 			    const Interpreter::ShellBasicFunction& f)
 {
   dgDEBUGIN(25);
-  Shell.registerFunction(funName,f);
+  g_shell.registerFunction(funName,f);
   dgDEBUGOUT(25);
 }
 
@@ -505,7 +505,7 @@ void Interpreter::writeCompletionList(std::ostream& os)
 }
 
 namespace dynamicgraph {
-//! The global Shell object.
-	Interpreter Shell;
+//! The global g_shell object.
+	Interpreter g_shell;
 }
 
diff --git a/src/dgraph/plugin-loader.cpp b/src/dgraph/plugin-loader.cpp
index c78f428928e0eca144310bd56c1b4ee4fa3e5e55..719d1923c0fdfda303782126e27fe25c8aa13676 100644
--- a/src/dgraph/plugin-loader.cpp
+++ b/src/dgraph/plugin-loader.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      plugin-loader.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    François Bleibel (from Nicolas Mansard)
  *
  * Version control
@@ -28,7 +28,7 @@
 #include <dlfcn.h>
 #endif
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/plugin-loader.h>
 #include <dynamic-graph/debug.h>
 
diff --git a/src/dgraph/pool.cpp b/src/dgraph/pool.cpp
index 38bd228235063eb89576547021f3072607790e1b..cdab5d09015dd1531cf017ee0ecbb57d2f1fc25e 100644
--- a/src/dgraph/pool.cpp
+++ b/src/dgraph/pool.cpp
@@ -3,8 +3,8 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      pool.cpp
- * Project:   SOT
- * Author:    François Bleibel (from Nicolas Mansard)
+ * Project:   DYNAMIC-GRAPH
+ * Author:    François Bleibel, Nicolas Mansard
  *
  * Version control
  * ===============
@@ -21,7 +21,7 @@
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
 
-/* --- SOT --- */
+/* --- DYNAMIC-GRAPH --- */
 #include <dynamic-graph/pool.h>
 #include <dynamic-graph/debug.h>
 #include <dynamic-graph/entity.h>
@@ -264,7 +264,7 @@ getSignal( std::istringstream& sigpath )
 
 
 namespace dynamicgraph {
-	//! The global pool object.
-	PoolStorage pool;
+	//! The global g_pool object.
+	PoolStorage g_pool;
 }
 
diff --git a/src/exception/exception-abstract.cpp b/src/exception/exception-abstract.cpp
index 10739d611e42cfeafd39d0c243f19fc767f3bb15..923e649ba3991fe5ecf4529b62dd2942ac598494 100644
--- a/src/exception/exception-abstract.cpp
+++ b/src/exception/exception-abstract.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      ExceptionAbstract.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -70,7 +70,7 @@ getCode (void)
 /* ------------------------------------------------------------------------- */
 /* --- MODIFIORS ----------------------------------------------------------- */
 /* ------------------------------------------------------------------------- */
-#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 
 
 ExceptionAbstract::Param& ExceptionAbstract::Param::
@@ -94,7 +94,7 @@ Param( const int& _line, const char * _function, const char * _file )
 {
     dgDEBUGINOUT(25);
 }
-#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#endif //#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 
 /* ------------------------------------------------------------------------- */
 /* --- OP << --------------------------------------------------------------- */
@@ -108,11 +108,11 @@ operator << (ostream & os,
 {
     os << error.getExceptionName()<<"Error [#" << error.code << "]:  " << error.message << endl;
 
-#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
     if( error.p.set )
 	os << "Thrown from "<<error.p.file << ": "<<error.p.function
 	   <<" (#"<<error.p.line << ")"<<endl;
-#endif //#ifdef SOT_EXCEPTION_PASSING_PARAM 
+#endif //#ifdef DYNAMICGRAPH_EXCEPTION_PASSING_PARAM 
 
     return os;
 }
diff --git a/src/exception/exception-factory.cpp b/src/exception/exception-factory.cpp
index c54eda0114cd2683c9ba22fd61ebaaffbf66ca9f..b928a4278c8a91218a924ffa1b50300ead5422e2 100644
--- a/src/exception/exception-factory.cpp
+++ b/src/exception/exception-factory.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      ExceptionFactory.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/src/exception/exception-signal.cpp b/src/exception/exception-signal.cpp
index 82ff22201ff58882462b2ca058fb791c33e44587..acdfa7043a0ae2669e0a54366f39d3c7412e646c 100644
--- a/src/exception/exception-signal.cpp
+++ b/src/exception/exception-signal.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      ExceptionSignal.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/src/dgraph/shell-functions.cpp b/src/plugins/shell-functions.cpp
similarity index 89%
rename from src/dgraph/shell-functions.cpp
rename to src/plugins/shell-functions.cpp
index 868db2c62d409dc811abc78f65514ba03148e191..069d0024b1aa3d1720d1c4fe46719050bbd26c20 100644
--- a/src/dgraph/shell-functions.cpp
+++ b/src/plugins/shell-functions.cpp
@@ -3,8 +3,8 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      shell-functions.cpp
- * Project:   SOT
- * Author:    François Bleibel (from Nicolas Mansard)
+ * Project:   DYNAMIC-GRAPH
+ * Author:    François Bleibel, Nicolas Mansard
  *
  * Version control
  * ===============
@@ -46,7 +46,7 @@ cmdTry( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
   cmdArg>>cmdLine2;
   dgDEBUG(5)<<"Try <" <<cmdLine2<<">"<<endl;
   try{
-    Shell.cmd(cmdLine2,cmdArg,os);
+    g_shell.cmd(cmdLine2,cmdArg,os);
   } catch ( const ExceptionAbstract& e ) { os << "dgERROR catch: " <<endl<< e<<endl; }
   catch( ... ) { os<<"Unknown error catch." <<endl; }
 
@@ -60,15 +60,15 @@ cmdLoadPlugins( const std::string cmdLine, std::istringstream& cmdArg, std::ostr
 	 << "\t\tLoad the plugins listed in the file." <<endl;
       return;
     }
-  if( NULL!=Shell.dlPtr )
+  if( NULL!=g_shell.dlPtr )
     {
       string pluginName,directory;
       cmdArg >> pluginName;
       cmdArg >> directory;
       dgDEBUG(15) << "Load plugin list <" <<pluginName<<"> from dir <" << directory<<">."<<endl;
-      if( directory.length() != 0 ) Shell.dlPtr->setDirectory( directory );
-      Shell.dlPtr ->loadPluginList( pluginName );
-      Shell.dlPtr->loadPlugins();
+      if( directory.length() != 0 ) g_shell.dlPtr->setDirectory( directory );
+      g_shell.dlPtr ->loadPluginList( pluginName );
+      g_shell.dlPtr->loadPlugins();
     }
   else { os << "!!  Dynamic loading functionalities not accessible through the shell." <<endl; }
 }
@@ -84,7 +84,7 @@ cmdClearPlugin( const std::string cmdLine, std::istringstream& cmdArg, std::ostr
 
   string pluginName;
   cmdArg >> pluginName;
-  pool.clearPlugin( pluginName );
+  g_pool.clearPlugin( pluginName );
 
 }
 
@@ -97,9 +97,9 @@ cmdDisplayPlugins( const std::string cmdLine, std::istringstream& cmdArg, std::o
 	 << "\t\t\t\tDisplay the name of the loaded plugins." <<endl;
       return;
     }
-  if( NULL!=Shell.dlPtr )
+  if( NULL!=g_shell.dlPtr )
     {
-      std::map< std::string,std::string > m = Shell.dlPtr->getLoadedPluginNames();
+      std::map< std::string,std::string > m = g_shell.dlPtr->getLoadedPluginNames();
       for( std::map< std::string,std::string >::const_iterator iter = m.begin();
 	   iter!=m.end(); ++iter )
 	{
@@ -120,12 +120,12 @@ cmdDisplayFactory( const std::string cmdLine, std::istringstream& cmdArg,
 {
    if( cmdLine == "help" ) 
     {
-      os << "  - "; factory.commandLine(cmdLine,cmdArg,os);
+      os << "  - "; g_factory.commandLine(cmdLine,cmdArg,os);
       return;
     }
    
    string cmd2; cmdArg >> cmd2;
-   factory.commandLine( cmd2,cmdArg,os );
+   g_factory.commandLine( cmd2,cmdArg,os );
 }
 
 void ShellFunctions::
@@ -159,7 +159,7 @@ cmdUnplug( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
     }
 
   dgDEBUG(20) << "Get Ent2 <"<<obj2<<"> ."<<endl;
-  Entity& ent2 = pool.getEntity(obj2);
+  Entity& ent2 = g_pool.getEntity(obj2);
   dgDEBUG(20) << "Get Sig2 <"<<fun2<<"> ."<<endl;
   SignalBase<int> &sig2 = ent2.getSignal(fun2);
   
@@ -191,7 +191,7 @@ cmdSignalTime( const std::string cmdLine, istringstream& cmdArg, std::ostream& o
     }
 
   dgDEBUG(20) << "Get Ent2 <"<<obj2<<"> ."<<endl;
-  Entity& ent2 = pool.getEntity(obj2);
+  Entity& ent2 = g_pool.getEntity(obj2);
   dgDEBUG(20) << "Get Sig2 <"<<fun2<<"> ."<<endl;
   SignalBase<int> &sig2 = ent2.getSignal(fun2);
   
@@ -208,7 +208,7 @@ cmdSynchroSignal( const std::string cmdLine, std::istringstream& cmdArg, std::os
       return;
     }
 
-  SignalBase<int> & sig = pool.getSignal( cmdArg );
+  SignalBase<int> & sig = g_pool.getSignal( cmdArg );
   cmdArg >>ws;
   if( cmdArg.good() ) 
     {
@@ -265,8 +265,8 @@ cmdCopy( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
   istringstream str1(ssig1),str2(ssig2);
   
   try {
-    SignalBase<int> &sig1 = pool.getSignal( str1 );
-    SignalBase<int> &sig2 = pool.getSignal( str2 );
+    SignalBase<int> &sig1 = g_pool.getSignal( str1 );
+    SignalBase<int> &sig2 = g_pool.getSignal( str2 );
     
     dgDEBUG(25) << "Copy..."<<endl;
     sig2.plug(&sig1);
@@ -297,7 +297,7 @@ cmdFreeze( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
   istringstream str1(ssig1);
   
   try {
-    SignalBase<int> &sig1 = pool.getSignal( str1 );
+    SignalBase<int> &sig1 = g_pool.getSignal( str1 );
     
     dgDEBUG(25) << "Unplug..."<<endl;
     sig1.setConstantDefault();
@@ -319,16 +319,6 @@ cmdSqueeze( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
 	 << "\t\tIntercalate squeezeObj between mainObj and its source." <<endl;
       return;
     }
-
-//   bool target;
-//   {
-//     string source; cmdArg >> ws >> source;
-//     if( source=="source" ) { target=false; }
-//     else if( source=="target" ) { target=true; }
-//     else DG_THROW ExceptionFactory( ExceptionFactory::SYNTAX_ERROR,
-// 					"Squeeze: first arg should be source or target",
-// 					"(while calling squeeze %s ).",source.c_str());
-//   }
   
   string ssigMain,ssigIn,ssigOut;
   cmdArg>>ssigMain>>ssigIn>>ssigOut;
@@ -337,9 +327,9 @@ cmdSqueeze( const std::string cmdLine, istringstream& cmdArg, std::ostream& os )
   istringstream strOut(ssigOut);
 
   try {
-    SignalBase<int> &sigMain = pool.getSignal(strMain  );
-    SignalBase<int> &sigIn = pool.getSignal( strIn );
-    SignalBase<int> &sigOut = pool.getSignal( strOut );
+    SignalBase<int> &sigMain = g_pool.getSignal(strMain  );
+    SignalBase<int> &sigIn = g_pool.getSignal( strIn );
+    SignalBase<int> &sigOut = g_pool.getSignal( strOut );
 
     SignalBase<int> *sigMainSource = sigMain.getPluged();
     if( sigMainSource==&sigMain ) 
@@ -417,8 +407,8 @@ cmdSetPrompt( const std::string cmdLine, istringstream& cmdArg, std::ostream& os
   if( cmdArg. good() )
     {
       char buffer [80]; cmdArg .getline(buffer,80); 
-      Shell .prompt = buffer;
-    } else { os << "Current prompt is <" << Shell. prompt << ">." << endl; }
+      g_shell .prompt = buffer;
+    } else { os << "Current prompt is <" << g_shell. prompt << ">." << endl; }
 }
 
 void ShellFunctions::
@@ -472,7 +462,7 @@ cmdCompletionList( const std::string cmdLine, istringstream& cmdArg, std::ostrea
 
     std::string aFileName; cmdArg >> aFileName;
     std::ofstream completionFile((char *)aFileName.c_str());
-    pool.writeCompletionList( completionFile );
+    g_pool.writeCompletionList( completionFile );
 
 
   } catch( ExceptionAbstract & err ) { throw;  }
diff --git a/src/dgraph/shell-procedure.cpp b/src/plugins/shell-procedure.cpp
similarity index 87%
rename from src/dgraph/shell-procedure.cpp
rename to src/plugins/shell-procedure.cpp
index 42bb88425448055116b3511f47a2cb0e4286dc47..3a3a6f344dacf419c4b22ad4ea039fefe01ee642 100644
--- a/src/dgraph/shell-procedure.cpp
+++ b/src/plugins/shell-procedure.cpp
@@ -3,8 +3,8 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      shell-procedure.cpp
- * Project:   SOT
- * Author:    François Bleibel (from Nicolas Mansard)
+ * Project:   DYNAMIC-GRAPH
+ * Author:    François Bleibel, Nicolas Mansard
  *
  * Version control
  * ===============
@@ -65,10 +65,6 @@ cmdContinueProcedure( const std::string& cmdLine,std::istringstream& args,std::o
   dgDEBUG(5)<<"Proc <" <<procName<<">: "<<cmd2<<endl;
   
   Instruction ins; ins.cmd=cmd2; 
-//   const unsigned int SIZE = 256;
-//   char buffer[SIZE]; args.getline(buffer,SIZE);
-//   dgDEBUG(5)<<"Proc <" <<procName<<"> arg= ["<<buffer<<"]"<<endl;
-//   ins.args=buffer;
   args >> ws;
   while( args.good() )
     {
@@ -97,7 +93,7 @@ cmdEndProcedure( const std::string& cmdLine,std::istringstream& args,std::ostrea
   procedureList[ procName ] = currentProc;
 
 //   std::string toto="toto";
-//   for( sotProcedure::iterator ins=procedureList[ toto ].begin();
+//   for( Procedure::iterator ins=procedureList[ toto ].begin();
 //        ins!=procedureList[ toto ].end(); ++ins )
 //     {
 //       dgDEBUG(15) << "Proc <" << procName << "> : " 
@@ -106,7 +102,7 @@ cmdEndProcedure( const std::string& cmdLine,std::istringstream& args,std::ostrea
 
   currentProc.clear();
 
-  if( Shell.deregisterFunction( procName ))
+  if( g_shell.deregisterFunction( procName ))
     {      os<< "Redefining proc <"<<procName<<">: procedure already defined. "
 	     << "Overwrite it."<<endl;    }
   ShellFunctionRegisterer registration
@@ -119,22 +115,6 @@ void ShellProcedure::
 cmdProcedure(   const std::string& procname,
 		const std::string& cmdLine,std::istringstream& args,std::ostream& os )
 {
-//   if( cmdLine == "help" ) 
-//     {
-//       std::string procname; args >> procname; os<< procname<<endl;
-//       if(! args.good() )
-// 	{
-// 	  os << "  - User defined procedures: "<<endl;
-// 	  for( ProcedureList::iterator iter=procedureList.begin();
-// 	       iter!=procedureList.end(); ++iter )
-// 	    os << "     -> " << iter->first << endl;
-// 	  return;
-// 	}
-//       else
-// 	{
-// 	  os <<"Help on user defined procedure <" << procname << ">"<<std::endl;
-// 	}
-//     }
   if( cmdLine == "help" ) 
     {
       os<<"  - "<<procname<<"\t\t\t\t\tUser-defined procedure"<<endl;
@@ -158,7 +138,7 @@ cmdProcedure(   const std::string& procname,
 						 argname.c_str() );
 		}
 	      
-	      sotProcedure & proc = pair->second;
+	      Procedure & proc = pair->second;
 	      unsigned int cmdnum=1;
 	      for( std::list<Instruction>::iterator ins=proc.instructions.begin();
 		   ins!=proc.instructions.end(); ++ins )
@@ -192,7 +172,7 @@ cmdProcedure(   const std::string& procname,
    * % -> endproc
    * % endproc
    */
-  sotProcedure proc = pair->second;
+  Procedure proc = pair->second;
 
   std::vector< std::string > paramValue;
   for( unsigned int i=0;i<proc.params.size();++i )
@@ -222,7 +202,7 @@ cmdProcedure(   const std::string& procname,
       
       dgDEBUG(15) << " Args = " << oss.str() << endl;
       iss.str(oss.str()); iss.clear();
-      Shell.cmd(ins->cmd,iss,os);
+      g_shell.cmd(ins->cmd,iss,os);
     }
 }
 
@@ -273,7 +253,7 @@ cmdFor( const std::string& cmdLine,std::istringstream& args,std::ostream& os )
 	  if( insp == idx ) { oss << i << " "; } else { oss<<insp<< " "; }
 	}
       iss.str( oss.str() );
-      Shell.cmd(cmd2,iss,os);
+      g_shell.cmd(cmd2,iss,os);
     }
 }
 
diff --git a/src/signal/signal-array.cpp b/src/signal/signal-array.cpp
index 6b3604c1525ec6ea149cb605a67f7dab0af5c6ee..695117cb3a30d7dc363796ac3280b58655e93fee 100644
--- a/src/signal/signal-array.cpp
+++ b/src/signal/signal-array.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      SignalArray.cpp
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
diff --git a/src/signal/signal-caster.cpp b/src/signal/signal-caster.cpp
index 84f3f42ed9546dc9329641c39cad7c74d2b605a8..bc81627e00f4d70539e0dbc64a2e55ab5f3c541e 100644
--- a/src/signal/signal-caster.cpp
+++ b/src/signal/signal-caster.cpp
@@ -2,7 +2,7 @@
  * SignalCaster.cpp
  *
  *  Created on: Jun 14, 2010
- *      Author: blue
+ *      Author: François Bleibel, Nicolas Mansard
  */
 
 #include <dynamic-graph/signal-caster.h>
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a764fc21f8d8aa85e9f98cba4aa2e08b88c9bc58
--- /dev/null
+++ b/tools/CMakeLists.txt
@@ -0,0 +1,30 @@
+# 
+#  Copyright 
+# 
+
+### tools
+SET(tools
+	test_shell
+)
+
+FOREACH(tool_name ${tools})
+	SET(EXECUTABLE_NAME ${tool_name})
+
+	ADD_DEFINITIONS(-DDEBUG=2)
+
+	ADD_EXECUTABLE(${EXECUTABLE_NAME}
+	  ${tool_name}.cpp)
+	
+	INCLUDE_DIRECTORIES(
+		${CMAKE_CURRENT_SOURCE_DIR}/../include 
+	)
+
+	LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/lib)
+
+	TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
+	  ${PROJECT_NAME}
+	  dl)
+	  
+	INSTALL(TARGETS ${tool_name}
+		DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME})
+ENDFOREACH(tool_name)
\ No newline at end of file
diff --git a/unitTesting/test_shell.cpp b/tools/test_shell.cpp
similarity index 93%
rename from unitTesting/test_shell.cpp
rename to tools/test_shell.cpp
index 11e8ee98020c4ea14f09ecf29265845c76ed1a2e..9e6a8eaec3995f26c6f92c045c7bd387f341122d 100644
--- a/unitTesting/test_shell.cpp
+++ b/tools/test_shell.cpp
@@ -3,7 +3,7 @@
  *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  *
  * File:      test_shell.cc
- * Project:   SOT
+ * Project:   DYNAMIC-GRAPH
  * Author:    Nicolas Mansard
  *
  * Version control
@@ -39,7 +39,7 @@ int main( int argc,char** argv )
   
   dgDEBUG(5) << " Loading..." << endl;
   PluginLoader pl;
-  Shell.referencePluginLoader( &pl );
+  g_shell.referencePluginLoader( &pl );
 
   int fileIdx;
   try
@@ -48,7 +48,7 @@ int main( int argc,char** argv )
 	{
 	  std::istringstream script( argv[fileIdx] );
 	  cout << "Run "<< argv[fileIdx] << endl;
-	  Shell.cmd( "run",script,cout );
+	  g_shell.cmd( "run",script,cout );
 	}
     } 
   catch( ExceptionAbstract& e )
@@ -66,7 +66,7 @@ int main( int argc,char** argv )
       try
 	{
 	  dgDEBUG(5) << "Run shell." << endl;
-	  Shell.shell(cin,cout);
+	  g_shell.shell(cin,cout);
 	  dgDEBUG(5) << "Shell over." << endl;
       if( cin.eof() ) break;
 	} 
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index b59119d6943fd324e62685c21283f0c2023a6eab..57b60450cc381992e4adce1d4590c191bfcf2b87 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -4,10 +4,8 @@
 
 ### tests
 SET(tests
-	test_shell
 	test_pool
 	test_depend
-	test_factory
 	test_signalcast)
 
 FOREACH(test_name ${tests})
@@ -28,6 +26,5 @@ FOREACH(test_name ${tests})
 	  ${PROJECT_NAME}
 	  dl)
 	  
-	INSTALL(TARGETS ${test_name}
-		DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME})
+	ADD_TEST(NAME ${test_name} COMMAND ${test_name})
 ENDFOREACH(test_name)
\ No newline at end of file
diff --git a/unitTesting/test_depend.cpp b/unitTesting/test_depend.cpp
index 6f0bb2853936d99ff4687a516d4c5c078718ee39..13d2e54575a4ef92454eae12f512f69dfc0d6657 100644
--- a/unitTesting/test_depend.cpp
+++ b/unitTesting/test_depend.cpp
@@ -30,7 +30,7 @@
 #include <string>
 
 using namespace std;
-
+using namespace dynamicgraph;
 
 
 
diff --git a/unitTesting/test_factory.cpp b/unitTesting/test_factory.cpp
deleted file mode 100644
index c471edf9d70280d6aa57b4e11dda1cfe362c5206..0000000000000000000000000000000000000000
--- a/unitTesting/test_factory.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet JRL-JAPAN, Tsukuba, 2007
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File:      test_factory.cc
- * Project:   SOT
- * Author:    Nicolas Mansard
- *
- * Version control
- * ===============
- *
- *  $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-/* -------------------------------------------------------------------------- */
-/* --- INCLUDES ------------------------------------------------------------- */
-/* -------------------------------------------------------------------------- */
-
-
-#include <string>
-#include <iostream>
-#include <cstdlib>
-#include <sstream>
-
-#include <dynamic-graph/factory.h>
-#include <dynamic-graph/entity.h>
-#include <dynamic-graph/debug.h>
-
-
-using namespace std;
-using namespace dynamicgraph;
-
-#ifdef WIN32
-#include <Windows.h>
-#else 
-#include <dlfcn.h> 
-#endif
-
-#ifdef WIN32
-	typedef HMODULE sotPluginKey;
-#else
-	typedef void* sotPluginKey;
-#endif
-
-int main()
-{
-  
-  dgDEBUG(0) << "# In {"<<endl;
-//   Entity test("");
-//   sotExceptionFeature t2(sotExceptionFeature::BAD_INIT);
-//   sotExceptionSignal t4(sotExceptionSignal::COPY_NOT_INITIALIZED);
-//   sotFlags t3;
-//   TestFeature t5;
-
-#ifndef WIN32
-  sotPluginKey dlib = dlopen("lib/plugin/sotFeatureVisualPoint.so", RTLD_NOW);
-#else
-  sotPluginKey dlib = LoadLibrary ( "lib/plugin/sotFeatureVisualPoint.lib"); 
-#endif
-if( NULL==dlib ) 
-    {
-      cerr << " Error dl"<<endl;
-#ifndef WIN32
-      cerr << dlerror() <<endl;
-#else
-    // Retrieve the system error message for the last-error code
-    LPTSTR pszMessage;
-    DWORD dwLastError = GetLastError(); 
-    FormatMessage(
-        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
-        FORMAT_MESSAGE_FROM_SYSTEM |
-        FORMAT_MESSAGE_IGNORE_INSERTS,
-        NULL,
-        dwLastError,
-        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
-        (LPTSTR)&pszMessage,
-        0, NULL );
-
-
-	  cerr << pszMessage <<endl;
-	  LocalFree(pszMessage);
-#endif
-
-      exit(0);
-    }
-
-
-#ifndef WIN32
-	dlib = dlopen("lib/plugin/sotGainAdaptative.so", RTLD_NOW);
-#else
-	dlib = LoadLibrary ("lib/plugin/sotGainAdaptative.lib"); 
-#endif
-  if( NULL==dlib ) 
-    {
-	  cout << "This test can only be run after the package StackOfTasks has been installed\n"
-			  "Could not find sotGainAdaptive shared library" << endl;
-#ifndef WIN32
-      cerr << dlerror() <<endl;
-#else
-    // Retrieve the system error message for the last-error code
-    LPTSTR pszMessage;
-    DWORD dwLastError = GetLastError(); 
-    FormatMessage(
-        FORMAT_MESSAGE_ALLOCATE_BUFFER | 
-        FORMAT_MESSAGE_FROM_SYSTEM |
-        FORMAT_MESSAGE_IGNORE_INSERTS,
-        NULL,
-        dwLastError,
-        MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
-        (LPTSTR)&pszMessage,
-        0, NULL );
-
-
-	  cerr << pszMessage <<endl;
-	  LocalFree(pszMessage);
-#endif
-      exit(0);
-    }
-
-  Entity* gain = 0;
-  if ( !factory.existEntity("GainAdaptative") ) {
-	  cout << "Could not find entity class 'GainAdaptative'" << endl;
-	  exit(0);
-	}
-  else
-	 gain = factory.newEntity("GainAdaptative","Gain");
-
-  
-  gain->display(cout); cout << endl;
-  cout <<gain->getClassName(); cout << endl;
-
-
-  dgDEBUG(0) << "# Out }"<<endl;
-}
-
diff --git a/unitTesting/test_pool.cpp b/unitTesting/test_pool.cpp
index 1f77fb6670ae38cbeb2a79caf41e7b9960ac58d7..074cfe2fe0b5bb911b5df839ae0ddcb7f2ed0380 100644
--- a/unitTesting/test_pool.cpp
+++ b/unitTesting/test_pool.cpp
@@ -68,8 +68,8 @@ main() {
 	MyEntity myEntity("MyEntity");
 
 	cout << "-- Pool.list" << endl;
-	pool.commandLine("pool", "list", *auto_ptr<istringstream>(new istringstream("")), cout);
-	Entity& e = pool.getEntity("MyEntity");
+	g_pool.commandLine("pool", "list", *auto_ptr<istringstream>(new istringstream("")), cout);
+	Entity& e = g_pool.getEntity("MyEntity");
 	cout << "-- Display" << endl;
 	e.display(cout);
 }
diff --git a/unitTesting/test_signalcast.cpp b/unitTesting/test_signalcast.cpp
index 45f3c15dd5eecef5da46afd23c139911b807fce5..ff828358826f17e4270dd8d7bcb9f04266e11687 100644
--- a/unitTesting/test_signalcast.cpp
+++ b/unitTesting/test_signalcast.cpp
@@ -37,13 +37,15 @@
 using namespace std;
 using namespace dynamicgraph;
 
-main() {
-	Signal<int, int> mySignal("out");
-	istringstream value("5");
+int main() {
+	Signal<double, int> mySignal("out");
+	istringstream value("42.0");
 	cout << "[cast] Setting signal value to " << value.str() << endl;
 	mySignal.set(value); // use "set" operation
 	cout << "[disp] The value read is ";
 	mySignal.get(cout);
 	cout << "[trace] Printing out trace: ";
 	mySignal.trace(cout);
+
+	return 0;
 }