diff --git a/Registration_run/cubes.scn b/Registration_run/cubes.scn
index 66ef774..a3bf090 100644
--- a/Registration_run/cubes.scn
+++ b/Registration_run/cubes.scn
@@ -8,7 +8,7 @@
 
     <!-- Using a rigid cube using collision triangles, lines and points  -->
     <Node name="Cube1">
-        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
+        <EulerImplicitIntegrationScheme name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
         <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5" name="CG Solver"/>
         <MechanicalObject name="Cube1 RigidDOF" template="Rigid3d" dy="0" />
         <UniformMass name="UniformMass1" totalMass="10.0" />
@@ -27,7 +27,7 @@
         </Node>-->
     </Node>
     <Node name="Cube2">
-        <EulerImplicitSolver name="EulerImplicit" />
+        <EulerImplicitIntegrationScheme name="EulerImplicit" />
         <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5" name="CG Solver"/>
         <MechanicalObject name="Cube2 RigidDOF" template="Rigid3d" dy="0" dx="0" />
         <UniformMass name="UniformMass2" totalMass="10.0" />
diff --git a/examples/ICPRegistration_MeshSpring.scn b/examples/ICPRegistration_MeshSpring.scn
index 7213ab6..b9d844c 100644
--- a/examples/ICPRegistration_MeshSpring.scn
+++ b/examples/ICPRegistration_MeshSpring.scn
@@ -4,7 +4,7 @@
 	<RequiredPlugin name="Registration" pluginName="Registration" />
 
 	<VisualStyle displayFlags="showBehavior showVisual" />
-	<EulerImplicitSolver rayleighStiffness="0.5"  rayleighMass="0.5" vdamping="0.01"/>
+	<EulerImplicitIntegrationScheme rayleighStiffness="0.5"  rayleighMass="0.5" vdamping="0.01"/>
 	<CGLinearSolver template="GraphScattered" iterations="15"  threshold="1e-008" tolerance="1e-5"/>
 
 	<Node name="target">
diff --git a/examples/ICPRegistration_ShapeMatching_Engine.scn b/examples/ICPRegistration_ShapeMatching_Engine.scn
index 45c8212..557f23c 100644
--- a/examples/ICPRegistration_ShapeMatching_Engine.scn
+++ b/examples/ICPRegistration_ShapeMatching_Engine.scn
@@ -5,7 +5,7 @@
 	
 	<VisualStyle displayFlags="showForceFields showVisual" />
 	
-	<EulerImplicitSolver rayleighStiffness="0.5"  rayleighMass="0.5" />
+	<EulerImplicitIntegrationScheme rayleighStiffness="0.5"  rayleighMass="0.5" />
 	<CGLinearSolver template="GraphScattered" iterations="25"  threshold="1e-008" tolerance="1e-5"/>
 
 	<Node name="target">
diff --git a/examples/imageregistration.scn b/examples/imageregistration.scn
index aaeb90b..acea6df 100644
--- a/examples/imageregistration.scn
+++ b/examples/imageregistration.scn
@@ -9,7 +9,7 @@
     <RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
     <RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->  
     <RequiredPlugin pluginName="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->  
-    <RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
+    <RequiredPlugin pluginName="Sofa.Component.IntegrationSchemes.Backward"/> <!-- Needed to use components [EulerImplicitIntegrationScheme] -->
     <RequiredPlugin pluginName="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->  
     <RequiredPlugin pluginName="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->  
     <RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->  
@@ -21,7 +21,7 @@
 
     <VisualStyle displayFlags="showForceFields showVisual" />
 
-    <EulerImplicitSolver rayleighStiffness="0.2"  rayleighMass="0.2" />
+    <EulerImplicitIntegrationScheme rayleighStiffness="0.2"  rayleighMass="0.2" />
     <CGLinearSolver template="GraphScattered" iterations="25"  threshold="1e-008" tolerance="1e-5"/>
 
     <Node name="target">
diff --git a/examples/test_InertiaAlign.scn b/examples/test_InertiaAlign.scn
index 25fb2ca..11ab822 100644
--- a/examples/test_InertiaAlign.scn
+++ b/examples/test_InertiaAlign.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="SofaOpenglVisual"/>
 	<RequiredPlugin name="Registration"  printLog="1"  pluginName="Registration" />
 	<VisualStyle name="visualStyle1"  displayFlags="showVisual showForceFields" />
-	<EulerImplicitSolver name="eulerImplicitSolver1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
+	<EulerImplicitIntegrationScheme name="EulerImplicitIntegrationScheme1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
 	<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="15"  threshold="1e-08" tolerance="1e-5"/>
 	<Node 	 name="target"  >
                 <MeshOBJLoader name="meshLoader_0" filename="data/boxes.obj"  translation="0 0 0"  rotation="0 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/examples/test_InertiaAlign2.scn b/examples/test_InertiaAlign2.scn
index 28ba0e4..c8ca053 100644
--- a/examples/test_InertiaAlign2.scn
+++ b/examples/test_InertiaAlign2.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="SofaOpenglVisual"/>
 	<RequiredPlugin name="Registration"  printLog="1"  pluginName="Registration" />
 	<VisualStyle name="visualStyle1"  displayFlags="showVisual showForceFields" />
-	<EulerImplicitSolver name="eulerImplicitSolver1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
+	<EulerImplicitIntegrationScheme name="EulerImplicitIntegrationScheme1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
 	<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="15"  threshold="1e-08" tolerance="1e-5"/>
 	<Node 	 name="target"  >
                 <MeshOBJLoader name="meshLoader_0" filename="data/femur_m.obj"  translation="0 0 0"  rotation="0 0 0"  scale3d="1 1 1" handleSeams="1" />
diff --git a/examples/test_InertiaAlign3.scn b/examples/test_InertiaAlign3.scn
index 82c5a2b..3b9d20d 100644
--- a/examples/test_InertiaAlign3.scn
+++ b/examples/test_InertiaAlign3.scn
@@ -3,7 +3,7 @@
     <RequiredPlugin name="SofaOpenglVisual"/>
 	<RequiredPlugin name="Registration"  printLog="1"  pluginName="Registration" />
 	<VisualStyle name="visualStyle1"  displayFlags="showVisual showForceFields" />
-	<EulerImplicitSolver name="eulerImplicitSolver1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
+	<EulerImplicitIntegrationScheme name="EulerImplicitIntegrationScheme1"  rayleighStiffness="0.1"  rayleighMass="0.1" />
 	<CGLinearSolver template="GraphScattered" name="cGLinearSolver1"  iterations="15"  threshold="1e-08" tolerance="1e-5"/>
 	<Node 	 name="target"  >
                 <MeshOBJLoader name="meshLoader_0" filename="data/femur_m.obj"  translation="3 2 1"  rotation="30 40 50"  scale3d="1 1 1" handleSeams="1" />