Archives Ouvertes HAL
Toutes les publications de l'ENAC en direct.
All ENAC publications.
[hal-05299649] Error-Related Potentials Detection to Enhance Human-Robot Collaboration: A Preliminary Review
Error-related potentials (ErrPs) have been studied to evaluate wrong decisions or actions in several contexts. An ErrP is an electrical potential on the scalp generated by the perception of errors and occurs unwittingly. In human-robot collaboration (HRC), ErrP detection can be shown as feedback or trigger an action to adapt the system to the user. This contributes to the improvement of HRC, taking into account user performance. However, to our knowledge, the detection of ErrPs in HRC has not been widely explored, resulting in only a few studies. This preliminary systematic review will present work on ErrP-based interfaces related to adaptation, control, and...
[hal-05297560] Online Simplex-Structured Matrix Factorization
Simplex-structured matrix factorization (SSMF) is a common task encountered in signal processing and machine learning. Minimum-volume constrained unmixing (MVCU) algorithms are among the most widely used methods to perform this task. While MVCU algorithms generally perform well in an offline setting, their direct application to online scenarios suffers from scalability limitations due to memory and computational demands. To overcome these limitations, this paper proposes an approach which can build upon any off-the-shelf MVCU algorithm to operate sequentially, i.e., to handle one observation at a time. The key idea of the proposed method consists in updating the solution...
[hal-05299362] Safe and wind-aware synchronous path planning for a fleet of fixed-wing constant speed aircraft
Path planning for multiple vehicles is a difficult task, but even more so for fixed-wing aircraft. When flying several of them, multiple constraints may apply: constant airspeed, to maintain optimal operational conditions; synchronous arrival to destination, to achieve formation flight; taking into account wind, for limiting deviation from plan, especially for smaller Unmanned Aerial Vehicles. We present a method to solve this problem based on enumerating variations of Dubins paths until a conflict-free solution is found. This provides a simple and parallelizable scheme that can be extended to handle sequencing tasks. We showcase different situations solved in simulation...
[hal-05294783] De la supervision au pilotage manuel : vers un contrôle flexible de flottes de drones pour la recherche et le sauvetage
Les flottes de drones offrent un fort potentiel pour les missions de re- cherche et de sauvetage (SAR), en accélérant l’exploration de zones étendues ou le transport de matériel. Toutefois, la nature imprévi- sible et dynamique de ces interventions rend leur automatisation et leur supervision complexes. Nous avons mené des entretiens avec quatre professionnels du SAR pour identifier des scénarios critiques et des besoins d’interactions à différents niveaux de contrôle. Nous avons ensuite conçu un prototype en réalité virtuelle permettant de planifier, superviser et reprendre le contrôle manuel d’une flotte de drones lors de missions de recherche. Une étude exploratoire...
[hal-05294297] McEliece Parameter Sets Optimized for Processing in Memory Architectures
Parameter sets for post-quantum primitives have to be designed with their whole lifecycle in mind. Computers will likely evolve to include larger computing spaces, for instance, with processing in memory. This architecture change is already known to improve cryptographic performance. In this paper, we propose new parameter sets for Classic McEliece to benefit further from this change
[hal-04357797] Easing the tuning of drone autopilots through a model-based framework
Off-the-shelf open-source autopilots are customized by practitioners to satisfy their customer’s specific needs. When custom functions require low delays and/or fast frequency, in the order of magnitude of hundreds or a couple of thousand hertz, they may impact the behavior of the underlying stabilization loop. This paper proposes a tool chain able to extract a model using a Domain-Specific Language (DSL) based on AADL (Architecture Analysis & Design Language) semantics, extended with specific needs to capture the internal behavior of autopilots. This extraction is done directly during the compilation process of the autopilot. Then, we apply on the model of an autopilot a...
[hal-04198583] Adopting and diffusing hydrogen technology in air transport: An evolutionary game theory approach
This paper uses an evolutionary game theory approach to assess the diffusion of different hydrogen technologies in the air transport system. Our model is extended to consider uncertainty, as well as the impact of the “Flight Shame” movement and different policies such as subsidies or taxes. A sufficiently high initial percentage of hydrogen adopters is required for full adoption following the market social learning mechanism. This fixed internal point is determined by the benefits of switching technologies, the extra costs, and the ground handling fee. We complement our theoretical analysis with a well-calibrated simulation using industry data to study the diffusion of...
[hal-05288594] Intégration d'un modèle de propulsion hybride électrique dans un modèle d'aéronef complet, incluant aérodynamique et structure, en vue de sa conception multidisciplinaire
Cet article se focalise sur la conception multidisciplinaire d’un avion régional hybride série. L’étude fait suite au projet européen HASTECS coordonné par le LAPLACE, qui visait à concevoir la chaîne de propulsion hybride électrique. Le travail réalisé a été repris et enrichi dans notre étude en incluant le couplage aux caractéristiques aérodynamiques et de structure de l’avion, sur la base de modèles système avion complémentaires développés par l’ONERA. La nouvelle formulation proposée pour la conception multidisciplinaire de l’avion par optimisation conduit à une meilleure prise en compte des différents couplages et permet d’intégrer de nouveaux degrés de liberté...
[hal-05284675] Towards systemic participatory prototyping of interactive software
With several planetary limits being exceeded, the problem of the sustainability of IT systems is becoming ever more urgent. From the outset, participatory design (PD) has encouraged end-users to take control of the design of the IT tools they are to use by fostering co-designing and collaborative prototyping, but we increasingly need to attend to the wider ecological and societal influence of the systems it helps create. Systemic design (SD) has been identified as an approach that makes it possible to address issues of strong sustainability by taking into account several scales in all their complexity. This paper therefore frames the methodological question of how...
[hal-05283109] Towards More Automated Airport Ground Operations Including Engine-Off Taxiing Techniques Within the Auto-Steer Taxi at AIRport (ASTAIR) Project
This paper discusses SESAR's Auto-Steer Taxi at Airport (ASTAIR) project, which seeks to advance airport ground operations including engine-off taxiing to move towards sustainable airports. The ASTAIR concept integrates human-AI teaming to optimize aircraft movement from gates to runways, with the primary objectives of improving predictability, efficiency, and environmental sustainability at large airports. Building on previous initiatives such as SESAR's AEON, ASTAIR brings high-level automation to tasks like autonomous taxiing and vehicle routing. The system assists operators by calculating conflict-free routes for vehicles and dynamically adjusting operations based on...