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Publications, papers published in September 1999/communications publiées en septembre 1999
- 1
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C. Reboulet.
Appontage automatique d'un UAV.
In Deuxièmes journées nationales de la Recherche en Robotique,
Montpellier (France), 27 - 29 septembre 1999. LIRMM et l'IRCYN.
Le papier présente la conception d'un système d'appontage automatique
d'un drone de type hélicoptère sur un navire. Le système que nous proposons
inclut la localisation relative du drone par rapport au navire dans un repère
quasi inertiel, ainsi que la stratégie de guidage en vue d'assurer son
rendez-vous sur une plate-forme d'appontage. Pour cela des techniques de
prédiction des mouvements du navire sont nécessaires pour garantir
l'appontage avec une précision suffisante. L'intérêt de l'approche proposée
vient du fait que la localisation, le pilotage et le guidage du drone sont
réalisés de manière découplé des mouvements du navire. Nous présentons
l'organisation en capteurs nécessaire dans la phase finale de récupération
ainsi que l'architecture générale du système. Des résultats de simulation
montrent que cette approche est beaucoup plus robuste que des techniques
conventionnelles. Ils montrent notamment que l'appontage est possible malgré
des conditions de mer relativement sévères.
- 2
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L. Dieterle, R. Stuff, G. Schneider, J. Kompenhans, P. Coton, and J. C.
Monnier.
Experimental investigation of aircraft trailing vortices in a
catapult facility using PIV.
In (EALA) 8th International Conference on Laser Anemometry
Advances and Applications, Rome (Italie), 6 - 9 September 1999.
The evolution of the trailing vortices behind a free flying aircraft
model has been investi-gated experimentally by means of digital particle
image velocimetry (PIV). The measurements took place in the catapult facility
of ONERA, Lille, where the near field as well as the very far field of the
wake flow can be studied in a ground-based frame of reference. Tracer
particles added to the flow were illuminated by a pulsed laser light sheet in
a plane crosswise to the flight path of the model. Two CCD cameras recorded
neighbouring areas of the flow field simultaneously. Image recording was set
off by the launching model crossing a photo-electric barrier in order to
survey defined planes behind the model. The resulting velocity and vorticity
fields give quantitative information on the structure and trajectory of the
trailing vortices.
- 3
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P. Le Blaye, L. Wioland, L. Chaudron, F. Dehais, J. Y. Grau, and O. Penelaud.
Modelling human activity for the purpose of flight analysis.
In Human Centerd Processes (HCP'99), Brest (France), 22 - 24
September 1999. ENST Bretagne.
ONERA is currently involved in a research program which aims at
defining a methodology for the systematic analysis of the activity of
military pilots during everyday operations. This research program is
supported by the French MOD (DGA/DSP/STTC). It is conducted in collaboration
with the Military Institute of Aeronautical Medicine (IMASSA). The purpose of
the methodology is to make a better use of the available data recording
(mission plan and flight parameters) of each mission in order to extract
relevant information for the improvement of flight safety. The proposed
methodology is different from the flight analysis processes currently used by
airlines, for instance, as it is clearly focused on the human activity and
especially on the pilot's know-how : operational processes and individual
practices, which are not described into the documentation. Based on a modern
approach of safety, a better information on everyday practices is thought to
be a key element to better understand how the pilots face the operational
constraints, how they detect and recover the errors inherent to their
activity and eventually, how to avoid incidents becoming accidents. The main
potential benefits are expected in training and procedures. The first phase
of the study consisted of man-in-the-loop simulations with military pilots,
followed by detailed debriefing. The recorded data and interviews were used
for task analysis and knowledge acquisition. The aim was to build a
preliminary generic model of the pilot's activity, which should be used as
the core of the analysis methodology in order to rebuild the actual
behaviour, as far as possible. The next phase is to elaborate functionalities
for the interpretation of the possible discrepancies between the generic
model and the actual activity, from the point of view of human factors.
Finally, the last phase will consist of the development of a software
platform, which will be evaluated for the analyses of the pilot's activity
during specific missions.
- 4
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S. Bistarelli, U. Montanari, F. Rossi, T. Schiex, G. Verfaillie, and
H. Fargier.
Semiring-based CSPs and valued CSPs: Frameworks, properties, and
comparison.
Constraints, An International Journal, 4(3):199-240, September
1999.
In this paper we describe and compare two frameworks for constraint
solving where classical CSPs, fuzzy CSPs, weighted CSPS, partial constraint
satisfaction, and others can be easily cast. One is based on a semiring, and
the other one on a totally ordered commutative monoid. While comparing the
two approaches, we show how to pass from one to the other one, and we discuss
when this is possible. The two frameworks have been previously independently
introduced.
- 5
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A. Taghizad, Ch. Verbeke, and A. Desopper.
Aerodynamic perturbations on the frigate la fayette deck effects on
the helicopter flight dynamics.
In 25th European Rotocraft Forum, Rome (Italy), 14 - 16
September 1999.
A specific study has been carried out at ONERA since 1997 under the
support of the French Ministry of Defence (SPAé) in order to develop an
aerodynamic model of the frigate La Fayette landing area and to improve ship
landing operations simulation realism. Wind tunnel tests have been performed
in ONERA-Lille on a 1/50th scaled model frigate to measure the 3D unsteady
aerodynamic field around the landing deck with a hot films anemometer. Mean
velocity and turbulence components have been measured for different wind
conditions. During these tests the air-sea boundary layer was also simulated.
Two test campaigns were performed one in 1997 and one in 1998. The La Fayette
aerodynamic wake model includes a mean wake model and a turbulence model for
the velocity fluctuations. The turbulence model is based on the power
spectral densities of velocity fluctuations measurements. This model was
connected to the Eurocopter Helicopter Overall Simulation Tool (HOST).
Simulations of flights above the deck with this model demonstrated important
effects of the ship air-wake on the helicopter flight dynamics.
- 6
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A. Fossard.
Commande en glissement. une introduction.
Ecole Internationale d'Automatique de Lille, page 37, septembre
1999.
(voir A. Fossard).
- 7
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L. Chaudron and M. Boyer.
Systems/persons correlation modeling. application to noise/annoyance
analysis.
In HCP99 Human Centered Processes, Brest (France), 22 - 24
September 1999.
The aim of this paper is to design a generic model of the correlation
between aircrafts'noises and riparian persons'annoyance. This study is in
keeping with Artificial Intelligence, and it focuses on the study of the
relations between systems and unvoluntary users. Beyond a mere "noise
level" -> "annoyance" function, we aim at defining more precisely the
causal relations between noise characteristics and the actual annoyance.
Hence, we work both on annoyance cognitive models and on the general question
of the correlation between artificial systems and human beings. In this
paper, our contribution consists in the description of the first phase of the
project: the experimental data collection program and the the theoretical
tools.
- 8
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P.-M. Basset and A. El Omari.
A rotor wortex wake model for helicopter flight mechanics and its
application to the prediction of the pitch up phenomenon.
In 25ème european Rotorcraft forum, Rome (Italie), 14 - 16
September 1999.
A rotor wake model for helicopter flight mechanics is presented in
details. The wake is mainly represented by vortex rings, on which the
vorticity distribution is described by Fourier series. The induction formula
given in this paper are not limited in harmonics. After the description of
the model, the problem of the prediction of the pitch-bump is addressed. The
aim is to develop physically based models with a minimum dependence on
empiricism, in order to be helpful in the design process of a new helicopter
by reducing the number of tests. The effects of the main rotor inflow, of the
wake roll-up and of the wake contraction, are studied with analytical models.
- 9
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C. Barrouil, R. Demolombe, P. Fabiani, C. Tessier, Ph. Da Silva Passos,
Y. Davaine, B. Patin, and N. Prego.
TANDEM: an agent-oriented approach for mixed system management in
air operations.
In NATO-RTO meeting on Advanced mission management and system
integration technologies for improved tactical operations., Florence
(Italie), 27 - 29 September 1999. NATO-RTO.
Tandem focuses on prospective concepts in order to deal with specific
problems of mixed patrols, i.e. aerial patrols composed of both inhabited and
uninhabited aircraft. Cooperation between humans and artificial devices, so
as the different possible modes of interactions have to be modelled and
assessed. The paper decribes the concepts that will be developed to tackle
the problems, so as the methodology that will be implemented to assess them.
- 10
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G. Ferreres.
A practical approach to robustness analysis with aeronautical
applications.
Livre paru chez Kluwer Academic / Plenum Publishers - NY, page
232, September 1999.
The purpose of "A practical Approach to Robustness Analysis with
Aeronautical Applications" is twofold. First, it is to introduce as clearly
as possible the mu framework; secondly, it is to emphasize its practical
usefulness. To this aim, classical and advanced mu tools are first presented,
and then applied to a range of engineering problems, namely missiles, large
rigid or flexible transport aircraft, and highly flexible telescope mock-ups.
- 11
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G. Ferreres and Y. Le Gorrec.
Controller reduction with closed loop hinfinity performance
constraints: a QFT perspective.
International Journal of Control, 72(14):1249-1259, September
1999.
Assume that an initial stabilizing controller K0(s), which satisfies
various closed loop frequency domain specifications, has been a priori
synthesized using e.g. Hinfinity control, mu synthesis techniques or closed
loop convex synthesis. Remembering that the order of K0(s) is typically at
least equal to the order of the plant to be controlled, the aim of this paper
is to find a stabilizing reduced order controller, which also satisfies the
performance specifications and which moreover minimizes the open loop
bandwidth. To this aim, the structured singular value mu is used to translate
at each frequency closed loop frequency domain specifications into
requirements on the frequency response of the controller. The principle of
our reduction method is thus very close to the original idea of the SISO QFT
design approach, except that the problem of translating closed loop frequency
domain specifications into open loop ones is much more complex in the MIMO
case. The problem reduces to the issue of finding a controller, whose
frequency response belongs at each frequency to a template. The convexity of
these templates greatly facilitates the practical realization of the
controller. As a final point, the method is successfully applied to a
standard Hinfinity problem, which is extracted from the mu Analysis and
Synthesis Toolbox of Matlab, namely the synthesis of an autopilot for the
space shuttle.
- 12
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E. Bensana, M. Lemaître, and G. Verfaillie.
Earth observation satellite management.
Constraints: An International Journal, 4(3):293-299, September
1999.
The daily management of an earth observation satellite is a
challenging combinatorial optimization problem. This problem can be roughly
stated as follows: given (1) a set of candidate images for the next day, each
one associated with a weight reflecting its importance, (2) a set of
imperative constraints expressing physical limitations (no overlapping
images, sufficient transition times, bounded instantaneous data flow and
recording capacity), select a subset of candidates which meets all the
constraints and maximizes the sum of the weights of the selected candidates.
It can be easily cast in variants of the CSP, ILP or SAT frameworks. As a
benchmark, we propose to the CONSTRAINTS community a set of instances, which
have been produced from a simulator of the order book of the future satellite
SPOT5. The fact that only some of them have been optimally solved should make
them very attractive. Keywords: Benchmarks, Earth Observation Satellite
Management, Constraint Satisfaction, Discrete Optimization.
- 13
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S. Bistarelli, U. Montanari, F. Rossi, T. Schiex, G. Verfaillie, and
H. Fargier.
Semiring-based CSPs and valued CSPs: Frameworks, properties, and
comparison.
Constraints, An International Journal, 4(3):199-240, September
1999.
In this paper we describe and compare two frameworks for constraint
solving where classical CSPs, fuzy CSPs, weighted CSPS, partial constraint
satisfaction, and others can be easily cast. One is based on a semiring, and
the other one on a totally ordered commutative monoid. While comparing the
two approaches, we show how to pass from one to the other one, and we discuss
when this is possible. The two frameworks have been independently introduced
in [2], [3] and [35]. Keywords: overconstrained problems, constraint
satisfaction, optimization, soft constraint, dynamic programming, branch and
bound, complexity.
- 14
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C. Serr, J. Hamm, G. Polz, J. Langer, M. Simoni, A. Russo, C. Young,
J. Stevens, A. Desopper, and D. Papillier.
Improved methodology for take-off and landing operational procedures
THE RESPECT PROGRAMME.
In 25th European Rotorcraft Forum, Rome (Italie), 14 - 16
September 1999. Associazone Italiana di Aeronautica ed Astronautica.
In passager transport mission, rotorcraft are operated in accordance
with air traffic procedures which have been established essentially for the
need and performance capabilities of fixed wing in climb or descent. - A
COMPLETER SVP.
- 15
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C. Serr, J. Hamm, F. Toulmay, G. Polz, H. J. Langer, M. Simoni, A. Russo,
J. Young, J. Stevens, A. Desopper, and D. Papillier.
The RESPECT programme : improved methodology for take off and
landing operational procedures.
In 25th European Rotocraft Forum, Rome (Italy), 14 - 16
September 1999.
In passenger transport missions, rotorcraft are operated in
accordance with air traffic procedures which have been established
essentially for the needs and performance capabilities of fixed wing
aircraft, i.e. which incorporate trajectories with long rectilinear legs,
moderate turns and shallow slopes in climb or descent. The specific ability
of rotorcraft to take-off and land vertically, and to perform terminal
manœuvres in a confined space, following routes which do not interfere
with the other air traffic, makes much more efficient operations possible.
Nevertheless the potential benefit of revised flight procedures (in terms of
better integration with other air traffic and reduced noise impact) and the
consequent development of intercity connections, will materialise only if
such procedures can be shown to preserve or improve flight safety without
degrading the vehicle performance in terms of its payload capability.
- 16
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M. Jeanneau, D. Alazard, and Ph. Mouyon.
Contrôle semi-adaptatif pour structures flexibles.
In JDA'99 Journées Doctorales d'Automatique, Nancy, Lorraine
(France), 21 - 23 septembre 1999. GdR d'Automatique.
Contrôler les structures flexibles est un problème pointu qui
requiert de prendre en compte des contraintes sévères en terme de robustesse.
Les variations paramétriques des modes flexibles peu amortis menacent en
effet la stabilité. Nous proposons ici une alternative aux méthodes linéaires
invariantes limitées par le compromis robustesse/performance. Il s'agit
d'assurer les performances de pilotage par un contrôle classique sur le
modèle réduit aux modes rigides, tandis qu'un contrôleur adaptatif restreint
au modèle souple assure robustesse et suppression des oscillations internes.
Par cette technique, nous supprimons le compromis classique entre performance
et robustesse. Nous étudions ensuite l'utilisation de correcteurs LQG
équivalents, ainsi que les avantages qu'ils présentent pour une telle
structure de commande.
- 17
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C. Döll, Y. Le Gorrec, J.-F. Magni, and G. Ferreres.
Synthèse modale d'un autopilote de missile auto-séquencé.
In Centre de Recherche en Automatique de Nancy (CRAN), editor, Journées Doctorales d'Automatique GdR Automatique, volume 1, pages 145-148,
Nancy (France), 22 - 24 septembre 1999. GdR Automatique.
Cet article décrit la synthèse d'un correcteur auto-séquencé robuste
aux incertitudes paramétriques. Traditionnellement le séquencement est
effectué a posteriori par interpolation des gains calculés aux différents
points du domaine paramétrique. La méthode proposée ici repose sur la
commande modale multimodèle. Elle permet de synthétiser un correcteur robuste
d'ordre peu élevé, en tenant compte a priori de sa dépendance des paramètres
de séquencement. Le correcteur est ensuite appliqué au pilotage d'un missile.
- 18
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C. Barrouil and J. Lemaire.
Advanced real-time mission management for an autonomous AUV.
In Advanced Mission Management & System Integration
Technologies, Florence (Italy), 27 - 29 September 1999. AGARD.
The paper presents a work which is carried out in the framework of a
cooperation between US NUWC and French DCE/GESMA. The Purpose is to achieve
an integrated navigation system meant for a long range Autonomous Underwater
Vehicle (AUV) which has to reach distant assigned mission points in an
environment where the currents can be only roughly predicted and where few
details are well known concerning the relief of the sea bed. Because the AUV
may have to navigate close to the bottom, unexpected obstacles could be
encountered; for the same reason, the use of GPS is not adequate. The system
includes three layers: the itinerary layer, the trajectory layer and the
execution monitor. Because of the uncertainty about the currents, the AUV
cannot go directly from a mission point to another, even if there is no
obstacle between; it should move via localization points (FIX) where a sonar
device can detect known details on the sea floor for making a fix. An
itinerary layer chooses way-points, including FIXs and relief by-pass points,
to optimize the expected mission duration and energy consumption, including
both trips between FIXs and FIX searches. A trajectory layer provides
intermediate points (IP) so that the AUV can go from an IP to the next one
without colliding with the relief. During execution, a surveillance task
checks time and energy margins and sends an alert when they decrease faster
than expected. Then, the execution monitor requests the trajectory layer, or
even the itinerary layer, to update the plan with tighter constraints. Also,
when a fix is performed after a landmark detection, the currents map can be
locally corrected, and a message can be sent to following AUVs for replanning
purpose. The execution monitor is implemented thanks to a general approach
based of the Petri nets formalism to describe procedures. This design has
been implemented and tested in simulation. It should be tested on a real AUV
- REDERMOR of French DCE/GESMA - during year 2000.
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