WorldCat Identities

Equipe d'accueil doctoral Commande des systèmes et dynamique du vol (Toulouse, Haute-Garonne)

Overview
Works: 58 works in 66 publications in 2 languages and 62 library holdings
Roles: Other, Degree grantor
Publication Timeline
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Most widely held works by Haute-Garonne) Equipe d'accueil doctoral Commande des systèmes et dynamique du vol (Toulouse
Adaptation du design des visualisations de type supervisions pour optimiser la transmission des notifications classées par niveau d'intérêt by Jean-Paul Imbert( Book )

2 editions published in 2014 in French and held by 3 WorldCat member libraries worldwide

Le contrôle aérien rentre dans une phase de profondes mutations liées à l'augmentation du trafic età l'évolution des outils permettant d'assurer le service. L'augmentation du nombre d'avions gérés parle contrôleur implique un nombre beaucoup plus important qu'auparavant d'informations à traiter etmémoriser ; or une part importante des causes d'incidents est déjà due à des problèmes de perception et demémorisation des informations amplifiées par la taille des écrans de contrôle. Ceux-ci sont particulièrementcritiques dans le cas de la perception des alarmes et des avertissements donnés par le système surla visualisation radar. Le design actuel de ce type d'alertes en France qui n'utilise que la couleur, faitaujourd'hui débat et il a été recommandé dans un bulletin de sécurité aérienne de le faire évoluer. Laperception des informations nécessaires à l'établissement d'une bonne conscience de la situation aériennedes contrôleurs est au centre de cette thèse. L'objet principal de ce travail est d'améliorer la conscience dela situation des contrôleurs en s'assurant que les éléments pertinents à leur disposition dont les alarmessont perçus dans des délais conformes à leur importance et que les actions nécessaires qui en découlentsont bien réalisées. Pour répondre à cette problématique, notre travail s'est porté sur deux axes. Le premierconsiste à étudier la tâche des contrôleurs de façon à analyser les informations nécessaires à la réalisationde certains objectifs et proposer un agent de suivi de la tâche qui pourrait les épauler. Le second porte surla perception des notifications, plus particulièrement en vision périphérique, et la conception de designspropres à améliorer leur perception ainsi que l'étude de leur impact sur la réalisation de la tâche. Grâceà une approche holistique basée sur l'utilisation d'un micro-monde ATC (Laby) et l'utilisation de capteursphysiologiques, nous avons pu évaluer plusieurs designs de notifications. Deux expérimentations ont étéconduites, la première utilisant de l'oculométrie, visait à mesurer le pouvoir attentionnel de cinq designs etleur impact sur la réalisation de la tâche. La seconde, en utilisant des données neurophysiologiques, visaità mesurer l'impact de deux designs sur la charge de travail. Les designs évalués ont servi à concevoir unsystème de notification intégré dans une nouvelle supervision radar qui a été couplé à l'agent de suivi dela tâche. La dernière expérimentation conduite durant ces travaux avait pour objectif d'évaluer l'impact decette nouvelle position de contrôle dont le design est orienté conscience de la situation sur la détection deproblèmes critiques. Les résultats obtenus montrent l'intérêt de ces nouveaux outils et leur impact positifsur la réalisation de la tâche des contrôleurs ainsi que la nécessité d'évaluer dans un contexte expérimentalcontrôlé les caractéristiques des designs de notifications pour les visualisations de supervision
Optimisation de trajectoire d'avion pour la prise en compte du bruit dans la gestion du vol by Mathieu Le Merrer( Book )

2 editions published in 2012 in French and held by 2 WorldCat member libraries worldwide

Les nouveaux enjeux environnementaux motivent la recherche par les acteurs de l'industrie aéronautique de méthodes de calcul de trajectoires optimales. Les contributions de cette thèse se déclinent selon trois axes. Dans un premier temps, plusieurs techniques d'optimisation de trajectoire avion sont comparées sur un cas simple traité dans la bibliographie universitaire. Puis, un modèle réduit pour prendre en compte le niveau des nuisances sonores dans un algorithme d'optimisation de trajectoire est proposé.Enfin, un problème d'optimisation de trajectoire de montée d'un avion civil est résolu par une approche directe. Les spécificités du problème consistent en la présence de plusieurs phases au sein de la trajectoire, la formulation de contraintes égalités à vérifier par des composantes du vecteur d'état sur des intervalles de temps et enfin la difficulté d'intégration numérique du modèle de bruit
Développement d'un estimateur d'état non linéaire embarqué pour le pilotage-guidage robuste d'un micro-drone en milieu complexe by Jean-Philippe Condomines( Book )

2 editions published in 2015 in French and held by 2 WorldCat member libraries worldwide

This thesis presents the study of an algorithmic solution for state estimation problem of unmanned aerial vehicles, or UAVs. The necessary resort to multiple miniaturized low-cost and low-performance sensors integrated into mini-RPAS, which are obviously subjected to hardspace requirements or electrical power consumption constraints, has led to an important interest to design nonlinear observers for data fusion, unmeasured systems state estimation and/or flight path reconstruction. Exploiting the capabilities of nonlinear observers allows, by generating consolidated signals, to extend the way mini-RPAS can be controlled while enhancing their intrinsic flight handling qualities.That is why numerous recent research works related to RPAS certification and integration into civil airspace deal with the interest of highly robust estimation algorithm. Therefore, the development of reliable and performant aided-INS for many nonlinear dynamic systems is an important research topic and a major concern in the aerospace engineering community. First, we have proposed a novel approach for nonlinear state estimation, named pi-IUKF (Invariant Unscented Kalman Filter), which is based on both invariant filter estimation and UKF theoretical principles. Several research works on nonlinear invariant observers have been led and provide a geometrical-based constructive method for designing filters dedicated to nonlinear state estimation problems while preserving the physical properties and systems symmetries. The general invariant observer guarantees a straightforward form of the nonlinear estimation error dynamics whose properties are remarkable. The developed pi-IUKF estimator suggests a systematic approach to determine all the symmetry-preserving correction terms, associated with a nonlinear state-space representation used for prediction, without requiring any linearization of the differential equations. The exploitation of the UKF principles within the invariant framework has required the definition of a compatibility condition on the observation equations. As a first result, the estimated covariance matrices of the pi-IUKF converge to constant values due to the symmetry-preserving property provided by the nonlinear invariant estimation theory. The designed pi-IUKF method has been successfully applied to some relevant practical problems such as the estimation of Attitude and Heading for aerial vehicles using low-cost AH reference systems (i.e., inertial/magnetic sensors characterized by low performances). In a second part, the developed methodology is used in the case of a mini-RPAS equipped with an aided Inertial Navigation System (INS) which leads to augment the nonlinear state space representation with both velocity and position differential equations. All the measurements are provided on board by a set of low-cost and low-performance sensors (accelerometers, gyrometers, magnetometers, barometer and even Global Positioning System (GPS)). Our designed pi-IUKF estimation algorithm is described and its performances are evaluated by exploiting successfully real flight test data. Indeed, the whole approach has been implemented onboard using a data logger based on the well-known Paparazzi system. The results show promising perspectives and demonstrate that nonlinear state estimation converges on a much bigger set of trajectories than for more traditional approaches
Trajectory planning and control for robot manipulations by Ran Zhao( Book )

2 editions published in 2015 in English and held by 2 WorldCat member libraries worldwide

In order to perform a large variety of tasks in interaction with human or in human environments, a robot needs to guarantee safety and comfort for humans. In this context, the robot shall adapt its behavior and react to the environment changes and human activities. The robots based on learning or motion planning are not able to adapt fast enough, so we propose to use a trajectory controller as an intermediate control layer in the software structure. This intermediate layer exchanges information with the low level controller and the high level planner. The proposed trajectory controller, based on the concept of Online Trajectory Generation (OTG), allows real time computation of trajectories and easy communication with the different components, including path planner, trajectory generator, collision checker and controller. To avoid the replan of an entire trajectory when reacting to a human behaviour change, the controller must allow deforming locally a trajectory or accelerate/decelerate by modifying the time function. The trajectory controller must also accept to switch from an initial trajectory to a new trajectory to follow. Cubic polynomial functions are used to describe trajectories, they provide smoothness, flexibility and computational simplicity. Moreover, to satisfy the objective of aesthetics, smoothing algorithm are proposed to produce human-like motions. This work, conducted as part of the ANR project ICARO, has been integrated and validated on the KUKA LWR robot platform of LAAS-CNRS
Modélisation, conception et commande de robots manipulateurs flexibles. Application au lancement et à la récupération de drones à voilure fixe depuis un navire faisant route by Thomas Solatges( )

1 edition published in 2018 in French and held by 1 WorldCat member library worldwide

Robot manipulators are generally stiff machines, designed in a way that flexibility does not affecttheir movements. Indeed, significant flexibility introduces additional degrees of freedom witha complex behavior. However, reducing the mass of a system allows for costs, performance, andsafety improvements. In order to allow those benefits despite important flexibility, this thesis focuseson modeling, design and control of flexible robot manipulators. It is motivated by the YAKAproject, which aims at developing a robot to launch and recover fixed wing UAVs from a movingship. It implies reaching very high dynamics on a large workspace, way beyond the specificationsof common rigid robots. The proposed tools for modeling, design and control allow for taking intoaccount both joint and link flexibility, for any number of degrees of freedom and flexible links.The elastodynamic model is obtained with Lagrange principle, each flexible link being representedwith one ormany Euler-Bernouilli beams. The proposed control scheme uses a nonlinear rigiddynamic inversion and extends classical Input Shaping techniques to flexible robot manipulators.The proposed design tools allow for performance prediction of the system including its actuatorsand controllers thanks to a realistic simulation. Experiments conducted with the YAKA robot validatedthe proposed approach. The results of the YAKA project confirmed the feasibility of usinga large scale, highly dynamic flexible robot in an industrial context, in particular for UAVs launchand recovery operations from amoving ship
Supervision for drone flight safety by Gustav Öman Lundin( )

1 edition published in 2020 in English and held by 1 WorldCat member library worldwide

The ever-increasing use of drones and their integration within the existing air trafic demand a certain number ofguarantees of safety and functional proofs. The flight safety is directly impacted by the precision and reliability ofthe localisation which is achieved most of the time by a multi-sensor fusion, itself provided by a state estimatingfilter. The work of this thesis focuses on the problem of fault tolerant navigation and sensor fault in the nonredundantsensor case. The main objective is to propose methods and architectures for attitude and positionestimation providing a correct estimation, but also improving its consistency and integrity, even in the case oflong lasting sensor perturbations. A first line of work concerns the estimation and rejection of multiple andfrequent biases on a position sensor, which is often the case for a GNSS receiver (multi-path errors), or a visualsensor (tracking errors). An architecture for bias detection and correction of the estimated position has beendeveloped to this end, to complement standard methods based on the GLR. A second line of work has beento propose an attitude estimation architecture robust to magnetic disturbances and specific accelerations. It isdivided into three principal blocks: (1) Sensor performance models allowing the estimation of sensor outputscleaned as well as possible from perturbations; (2) A measurement consolidation stage utilises statistical teststo select the signals to fuse between the raw measurements and the cleaned ones, or simply reject the signalsin case the consolidation fails; (3) An attitude estimator based on a Kalman filter merges the consolidatedmeasurements, with decoupling properties to mitigate the effect of residual perturbations, and a saturated biasmodel. The algorithms for position and attitude estimation have been validated in simulation and separatelyduring various experimental test campaigns
Reinforcement learning in non-stationary environments by Erwan Lecarpentier( )

1 edition published in 2020 in English and held by 1 WorldCat member library worldwide

How should an agent act in the face of uncertainty on the evolution of its environment?In this dissertation, we give a Reinforcement Learning perspective on the resolution of nonstationaryproblems. The question is seen from three different aspects. First, we study theplanning vs. re-planning trade-off of tree search algorithms in stationary Markov DecisionProcesses. We propose a method to lower the computational requirements of such an algorithmwhile keeping theoretical guarantees on the performance. Secondly, we study thecase of environments evolving gradually over time. This hypothesis is expressed through amathematical framework called Lipschitz Non-Stationary Markov Decision Processes. Wederive a risk averse planning algorithm provably converging to the minimax policy in thissetting. Thirdly, we consider abrupt temporal evolution in the setting of lifelong ReinforcementLearning. We propose a non-negative transfer method based on the theoretical study ofthe optimal Q-function's Lipschitz continuity with respect to the task space. The approachallows to accelerate learning in new tasks. Overall, this dissertation proposes answers to thequestion of solving Non-Stationary Markov Decision Processes under three different settings
Décomposition des problèmes de planification de tâches basée sur les landmarks by Simon Vernhes( )

1 edition published in 2014 in French and held by 1 WorldCat member library worldwide

The algorithms allowing on-the-fly computation of efficient strategies solving aheterogeneous set of problems has always been one of the greatest challengesfaced by research in Artificial Intelligence. To this end, classical planningprovides to a system reasoning capacities, in order to help it to interact with itsenvironment autonomously. Given a description of the world current state, theactions the system is able to perform, and the goal it is supposed to reach, a plannercan compute an action sequence yielding a state satisfying the predefined goal. Theplanning problem is usually intractable (PSPACE-hard), however some propertiesof the problems can be automatically extracted allowing the design of efficientsolvers.Firstly, we have developed the Landmark-based Meta Best-First Search (LMBFS)algorithm. Unlike state-of-the-art planners, usually based on state-space heuristicsearch, LMBFS reenacts landmark-based planning problem decomposition. Alandmark is a fluent appearing in each and every solution plan. The LMBFSalgorithm splits the global problem in a set of subproblems and tries to find aglobal solution using the solutions found for these subproblems. Secondly, wehave adapted classical planning techniques to enhance the performance of ourbase algorithm, making LMBFS a competitive planner. Finally, we have tested andcompared these methods
Résolution des qualités de vol de l'aile volante Airbus by Manuel Saucez( )

1 edition published in 2013 in English and held by 1 WorldCat member library worldwide

The aim of this study is to solve the handling qualities problems of a long range blended wing body, at the conceptual design phase. That concept, also named flying wing in this report, is an aircraft which integrates the four aircraft functions (lift, control, propulsion, passengers transportation) in one single body. That configuration presents a benefit in cruise lift-over-drag ratio, as well as in noise emissions, due to the shielding effect provided by the inner wing to mask the engine noise.That configuration choice leads also to challenges. One of them is the handling qualities. The baseline studied flying wing presents initially longitudinal and lateral instabilities, as well as lack of roll manoeuvrability and difficulty to do the rotation at takeoff. In this report are proposed solutions, combining innovative control surfaces and original drivers, which are adapted to the configuration advantages. The handling qualitiesare solved in a resolution process with as few loops as possible, and the impact on the performances is minimized. The output of that process is the best control surfaces architecture and airfoils design which minimizes the impact of the handling qualities resolution on the cost of the mission
Optimisation de la conception du design du harnais de commande des véhicules spatiaux by Eliott Roynette( )

1 edition published in 2018 in French and held by 1 WorldCat member library worldwide

Sixty years ago, on October 4, 1957, Sputnik, the first man-made artificial satellite, was sent into space. Its only function is to emit a radio beep at frequencies of 20 and 40 MHz to demonstrate the space power of the USSR. Since then, satellites have been multiple and their missions have diversified. Today, the missions of the satellites are so varied that some leave Earth's orbit. We speak in the case of probes, even if, in the rest of this thesis, they will be included in the term "satellite". The best-known satellite mission of the general public is the discovery of the universe and interplanetary exploration with satellite satellites such as the Hubble International Space Telescope or probes such as Rosetta, Voyager 1 and 2, ... nevertheless nowadays Although space exploration remains a major issue for humanity, most satellites have smaller missions that have a significant impact on economic and political life. The satellites in question today have two goals: defense and commercial. In both cases the satellites can be divided into two distinct groups: observation satellites and telecommunication satellites. To operate all these satellites, use an electrical harness. The electrical harness includes all the cables present in the satellite and which does not carry any customer data. As part of this we are interested in optimizing the design of the electrical harness of satellites
Conception préliminaire de surfaces de contrôle et lois de commande pour configurations d'avions non conventionnelles by Yann Denieul( )

1 edition published in 2016 in English and held by 1 WorldCat member library worldwide

Next generation of civil transport aircraft is likely to be a radical change in overallconfiguration compared to traditional tube-and-wing design. From a handling qualities perspective,current trend in modern airliners is to evolve towards more and more unstable aircraft, bothfrom longitudinal and lateral-directional point of view. As a consequence future aircraft may notbe controllable by human operator without stabilizing control laws. It then becomes necessaryto consider flight control systems contribution early in the design phase for control surfaces,empennages and actuators sizing, as opposed to traditional way of working dealing only withopen-loop criteria for preliminary sizing. Instead of an iterative process of sizing and controllaws synthesis, we propose to concurrently optimize control surfaces, actuators and flight controllaws taking into account longitudinal and lateral instability as well as industrial structure forcontrollers, for unstable configurations such as Blended Wing-Body (BWB). This “co-design”procedure enables sizing of physical aircraft parameters taking into account benefits from feedbackstabilization for counteracting external disturbance such as atmospheric turbulence, thus leadingto safer and more optimal aircraft configurations
Commande référencée vision pour drones à décollages et atterrissages verticaux by Henry de Plinval( )

1 edition published in 2014 in French and held by 1 WorldCat member library worldwide

La miniaturisation des calculateurs a permis le développement des drones, engins volants capable de se déplacer de façon autonome et de rendre des services, comme se rendre clans des lieux peu accessibles ou remplacer l'homme dans des missions pénibles. Un enjeu essentiel dans ce cadre est celui de l'information qu'ils doivent utiliser pour se déplacer, et donc des capteurs à exploiter pour obtenir cette information. Or nombre de ces capteurs présentent des inconvénients (risques de brouillage ou de masquage en particulier). L'utilisation d'une caméra vidéo dans ce contexte offre une perspective intéressante. L'objet de cette thèse était l'étude de l'utilisation d'une telle caméra dans un contexte capteur minimaliste: essentiellement l'utilisation des données visuelles et inertielles. Elle a porté sur le développement de lois de commande offrant au système ainsi bouclé des propriétés de stabilité et de robustesse. En particulier, une des difficultés majeures abordées vient de la connaissance très limitée de l'environnement dans lequel le drone évolue. La thèse a tout d'abord étudié le problème de stabilisation du drone sous l'hypothèse de petits déplacements (hypothèse de linéarité). Dans un second temps, on a montré comment relâcher l'hypothèse de petits déplacements via la synthèse de commandes non linéaires. Le cas du suivi de trajectoire a ensuite été considéré, en s'appuyant sur la définition d'un cadre générique de mesure d'erreur de position par rapport à un point de référence inconnu. Enfin, la validation expérimentale de ces résultats a été entamée pendant la thèse, et a permis de valider bon nombre d'étapes et de défis associés à leur mise en œuvre en conditions réelles. La thèse se conclut par des perspectives pour poursuivre les travaux
Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative by Yann Ameho( )

1 edition published in 2013 in French and held by 1 WorldCat member library worldwide

Micro Air Vehicle are pilotless aircrafts with dimensions not exceeding one meter and a maximum weight of two kilograms. They are different from classical aircrafts for multiple reasons: a shorter development cycle, a cheaper development, their ease of operation and specific vehicle configurations. All these points expect a specific answer in the development of the control laws of the vehicles. This thesis considers this topic through two particular issues: the control of a family of quadrotors and the control of hybrid micro air vehicle. A family of quadrotor represents a single concept of vehicle but with various sizes, payloads and payload configurations. Control laws must guarantee the same level of performance despite all these modifications. A hybrid micro air vehicle is able to both hover like a helicopter and fly forward like a plane. These two flight modes have specific flight dynamics that the control laws must adapt to. This thesis first presents a model of quadrotors and hybrid micro air vehicle and then details an indirect adaptive control method to tackle both issues. Adaptive control should guarantee performance of multiple controlled systems with a single controller. The parameter estimation and linear parameter varying synthesis method of the adaptive control scheme are described and finally flight test results show the contributions and limits of the approach
Nouvelles configurations de grappes d'actionneurs gyroscopiques pour le contrôle de satellites agiles by Hélène Evain( )

1 edition published in 2017 in French and held by 1 WorldCat member library worldwide

In this thesis, the attitude control problem for agile satellites with control moment gyro (CMG) clusters is studied. In particular, the problem applies to micro/nanosatellites (10-100kg). First, numerical tools are developed to analyse the compatibility of various cluster configurations with the nanosatellite constraints. The pyramidal six-CMG cluster is then selected. This cluster topology is analysed in depth, with and without actuator failures. Constraints on the development of a steering law adapted to our system are deduced. Among them, the singularity avoidance issue is emphasised. To meet the requirements, an analysis of the literature is carried out. Then, a new steering law structure and a different formulation of the kinematic equations are developed. This structure is based on the extended Kalman filter algorithm. It meets the requirements because it can be calculated in real-time onboard satellites, constraints imposed on the system are handled with flexibility and it is easily adaptable in case of actuator failures. In addition, a procedure to generate the control loop is proposed, containing a robust controller. The generalisation of this control loop is shown on space and fixed-base manipulator arms. Furthermore, the study of the internal elliptic singularities in CMG clusters leads to a new singularity avoidance strategy. Software simulations on highly representative simulators show the results of the steering law in various actuator failure cases. The CMG cluster and the control loop will be tested in a parabolic flight campaign, and the development of this experiment is detailed in this thesis
Estimation de paramètres de vol avion et détection de pannes capteurs by Guillaume Alcalay( )

1 edition published in 2018 in French and held by 1 WorldCat member library worldwide

The improvement of the aircraft performance and the decrease of the pilots'workload require more complex new aircraft avionic systems. This complexificationpaves the way for new constraints, such as improving the availability of the most criticalflight parameters used by the pilots (mainly the calibrated airspeed) or by themost advanced flight control systems (as the angle of attack, the altitude pressureor the aircraft weight). Today, their availability is mainly guaranteed by mean of astrong hardware redundancy (triplex type for civil aircraft). However, this solution isperfectible and penalizes the overall system performances in terms of weight, powerconsumption, space requirements and extra maintenance needs. Some faults, suchas common mode failures, which correspond to simultaneous and consistent faultsof at least two sensors measuring a same variable, cannot be detected. In this thesis,a solution based on the principle of the so-called analytical redundancy has beendeveloped to detect them and reconstruct through time the missing signals. Thissolution depends on the measurements, and kinematic and flight dynamic equationsavailable. For instance, the lift force equation combines numerous flight parametersof interest. It is of great value in the data fusion process on condition of having anaccurate surrogate model (as lookup tables adjusted with flight data, neural network,etc.) to estimate the lift force coefficient. In the end, an extended Kalmanfilter has been developed to estimate the critical longitudinal flight parameters. Besides,the existing complementarity between this model-based approach and severalsignal-based methods has permitted to have sensor faults and weight error diagnosisalong with unitary sensor validation capabilities. The architecture and its relatedembedded algorithms finally developed have been done with respect to the strongindustrial constraints (particularly in term of computation burden and formalism).They have been validated using simulation and flight data sets, especially for theisolation of slow drift common mode failures as they represent today the most challengingsensor faults to detect
Commande robuste structurée : application au co-design mécanique / contrôle d'attitude d'un satellite flexible by Jose Alvaro Perez Gonzalez( )

1 edition published in 2016 in English and held by 1 WorldCat member library worldwide

Dans cette étude de thèse, le problème du co-design mécanique/contrôle d'attitude avec méthodesde la commande robuste structurée est considéré. Le problème est abordé en développant une techniquepour la modélisation de systèmes flexibles multi-corps, appelé modèle Two-Input Two-Output Port (TITOP).En utilisant des modèles d'éléments finis comme données d'entrée, ce cadre général permet de déterminer, souscertaines hypothèses, un modèle linéaire d'un système de corps flexibles enchaînés. De plus, cette modélisationTITOP permet de considérer des variations paramétriques dans le système, une caractéristique nécessaire pourréaliser des études de co-design contrôle/structure. La technique de modélisation TITOP est aussi étenduepour la prise en compte des actionneurs piézoélectriques et des joints pivots qui peuvent apparaître dans lessous-structures. Différentes stratégies de contrôle des modes rigides et flexibles sont étudiées avec les modèles obtenus afin de trouver la meilleure architecture de contrôle pour la réjection des perturbations basse fréquence etl'amortissement des vibrations. En exploitant les propriétés d'outils de synthèse H1 structurée, la mise enoeuvre d'un schéma de co-design est expliquée, en considérant les spécifications du système (bande passantedu système et amortissement des modes) sous forme de contraintes H1. L'étude d'un tel co-design contrôled'attitude/mécanique d'un satellite flexible est illustré en utilisant toutes les techniques développées, optimisantsimultanément une loi de contrôle optimisée et certains paramètres structuraux
Étude des architectures de sécurité de systèmes autonomes : formalisation et évaluation en Event B by Jean-Charles Chaudemar( )

2 editions published in 2012 in French and held by 1 WorldCat member library worldwide

The study of complex system safety requires a rigorous design process. The context of this work is the formal modeling of fault tolerant autonomous control systems. The first objective has been to provide a formal specification of a generic layered architecture that covers all the main activities of control system and implement safety mechanisms. The second objective has been to provide tools and a method to qualitatively assess safety requirements. The formal framework of modeling and assessment relies on Event-B formalism. The proposed Event-B modeling is original because it takes into account exchanges and relations betweenarchitecture layers by means of refinement. Safety requirements are first specified with invariants and theorems. The meeting of these requirements depends on intrinsic properties described with axioms. The proofs that the concept of the proposed architecture meets the specified safety requirements were discharged with the proof tools of the Rodin platform. All the functional properties and the properties relating to fault tolerant mechanisms improve the relevance of the adopted Event-B modeling for safety analysis. Then, this approach isimplemented on a study case of ONERA UAV
Approximation des systèmes dynamiques à grande dimension et à dimension infinie by Igor Pontes Duff Pereira( )

1 edition published in 2017 in English and held by 1 WorldCat member library worldwide

In the engineering area (e.g. aerospace, automotive, biology, circuits), dynamical systems are the basic framework used for modeling, controlling and analyzing a large variety of systems and phenomena. Due to the increasing use of dedicated computer-based modeling design software, numerical simulation turns to be more and more used to simulate a complex system or phenomenon and shorten both development time and cost. However, the need of an enhanced model accuracy inevitably leads to an increasing number of variables and resources to manage at the price of a high numerical cost. This counterpart is the justification for model reduction. For linear time-invariant systems, several model reduction approaches have been effectively developed since the 60's. Among these, interpolation-based methods stand out due to their flexibility and low computational cost, making them a predestined candidate in the reduction of truly large-scale systems. Recent advances demonstrate ways to find reduction parameters that locally minimize the H2 norm of the mismatch error. In general, a reduced-order approximation is considered to be a finite dimensional model. This representation is quite general and a wide range of linear dynamical systems can be converted in this form, at least in principle. However, in some cases, it may be more relevant to find reduced-order models having some more complex structures. As an example, some transport phenomena systems have their Hankel singular values which decay very slowly and are not easily approximated by a finite dimensional model. In addition, for some applications, it is valuable to have a structured reduced-order model which reproduces the physical behaviors. That is why, in this thesis, reduced-order models having delay structures have been more specifically considered. This work has focused, on the one hand, in developing new model reduction techniques for reduced order models having delay structures, and, on the other hand, in finding new applications of model approximation. The major contribution of this thesis covers approximation topics and includes several contributions to the area of model reduction. A special attention was given to the H2 optimal model approximation problem for delayed structured models. For this purpose, some new theoretical and methodological results were derived and successfully applied to both academic and industrial benchmarks. In addition, the last part of this manuscript is dedicated to the analysis of time-delayed systems stability using interpolatory methods. Some theoretical statements as well as an heuristic are developed enabling to estimate in a fast and accurate way the stability charts of those systems
Modélisation et contrôle d'un robot spatial flexible pour la capture d'un débris en rotation by Vincent Dubanchet( )

1 edition published in 2016 in English and held by 1 WorldCat member library worldwide

On-orbit debris are currently causing deep concern for space agencies, related companies, and also among the population. ¿is is evidenced by the numerous scientific articles and recent movies on the matter. Indeed, these objects pose a serious threat for the astronauts on mission and for operational satellites. Among the various technical concepts already designed to address these threats, this thesis focuses on space robotics. Tools and methods are thus introduced for the modeling and control of a chaser satellite equipped with a manipulator. Dynamic models and optimized simulation schemes are developed to handle any multi-body system made up of amoving base embedding various appendages, either rigid or flexible. ¿en, a trajectory planner is designed to ensure acceleration continuity with the natural motion of the debris in order to perform a soft capture. ¿is reference trajectory is tracked by the end-effector of the chaser using a two-level control law, which is tuned by the structured H1 synthesis. A robustness analysis is also presented to assess the stability and the performances of the closed-loop system with respect to the motion of the robotic arm. Finally, the outcome of the thesis is validated by a twofold approach: by numerical means with a highfidelity simulator, and by practical ones with a robotic test bench including physical components in real time
Lateral stability and control of an aircraft equiped with a small fin by differential use of propulsion systems or by actuators such that butterfly airbrakes. Use of co-design methods by Eric Nguyen Van( )

1 edition published in 2020 in French and held by 1 WorldCat member library worldwide

The possibility to increase the performance of a transport aircraft through a relaxation of the directional static stability, also called weathercock stability, is studied in this thesis. A change of paradigm brought by the concept of distributed electric propulsion allows the consideration of an active use of differential thrust. This additional means of flight control and the reduction of the vertical tail are the main ideas explored in this work. In a first part, the directional static stability and controllability of an aircraft are evaluated to find the sizing flight conditions for the vertical tail. The contribution here is to take into account the specificities of the unconventional propulsion system. Mathematical tools are developed to trim the aircraft using differential thrust as a mean of directional control and aerodynamic tools are constructed to describe the variable vertical tail size and the aero-propulsive interactions taking place between a propeller and a wing. This analysis isolates a sizing flight condition, particularly the case of engine failure at take-off, for the vertical tail and leads to a significant reduction in surface area. It is also shown that the rudder control surface could be removed and replaced by differential thrust. In a second part, the flight dynamic aspects of an aircraft with a small vertical tail and differential thrust as the only means of directional control are studied. A methodology is proposed to answer the question of how should the vertical tail and propulsion system be designed to satisfy a set of prescribed flight handling qualities ? An automatic control architecture and co-design methodology relying on structured H1 control design and non convex optimisation tools are utilized and developed to manage the trade off between vertical tail size and engine bandwidth. This framework is used in the flight conditions defined in the first part and notably in presence of engine failures. In a last part, a means of experimental research is developed to contribute to an effort to produce experimental data on distributed electric propulsion. This flight demonstrator is specifically oriented toward the study of the lateral flight mechanics of an aircraft having a large portion of the wing embedded in the propeller slipstream. It was possible to identify the aerodynamic derivatives and their dependence on the thrust from the flight data to illustrate the particularity of flight dynamics with distributed propulsion and blown wing
 
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Alternative Names
Ecole doctorale Systèmes. Equipe d'accueil CSDV

Equipe d'accueil ISAE-ONERA CSDV

Languages
French (16)

English (9)