Automation for flight control: an elementary and ......flight controls + servomechanisms execution...

01/06/2016 - JC Ripoll

by Jean-Claude G. RipollCommission Aéronautique Civile (CAC)

Commission Aéronautique Civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050?

Automation for flight control:Automation for flight control:an elementary and philosophicalan elementary and philosophical

approach.approach.

01/06/2016 - JC Ripoll

PlanPlan

IntroductionFlight automationHuman and automationSafety and automationAutomation and systemConclusion

Commission Aéronautique civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050? 2

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IntroductionIntroductionaim of the tentativeaim of the tentative

Commission Aéronautique civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050?

3

More automation is ineluctable,consistent with general evolution of the world, is desirable to increase global efficiency,deserves a systematic approach.

Aim of the tentative is a methodic approach, in view of:- clarifying the ways used in automating the flight- proposing a structured target for a future mainly automated air transport system

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IntroductionIntroductionbasic principles basic principles

For ethical, societal, legal reasons we consider that:There will always be a human on board to represent the crew and share the

fate of the passengers, with the authority to intervene in the conduct of theflight. But the role of this person has changed from its historical one.

Steps are being taken to ensure the permanence of this function.


There is no real decision in the absence of doubt.

If the machine knows better what is to be done, let the machine do it.

The essential skill expected from human in charge is judgment in incertitude on

“what to do now ?”.

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Flight automationFlight automation

Note: hereafter a “robot” is in fact a software.in usual language the entire aircraft is the “robot”.

An “automaton” purely execute a program based on given parameters.A “robot” is able to draw updated information and to adapt its

program.

The robot is able to handle the unexpected, but cannot handle theunforeseen events which have not been programmed.

The controlling human operator should easily take over


01/06/2016 - JC Ripoll Commission Aéronautique civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050? 6

actuatorscontrol

Surfaces, throttlepositions

objective

velocity changes

local flight path

maneuver

mission

load factor, turningrate, speed

Air trajectory

next trafficposition

long term trafficposition The whole flight is the

intregrale of aéro-thermodynamical effects ofeffectors steering (engines,mobile surfaces, etc.).

Flight automationFlight automation

Building a flight Building a flight (ground taxiing excluded)(ground taxiing excluded)

1

2

3

4

5

01/06/2016 - JC Ripoll

Flight automationFlight automationConducting the flight: 5 modesConducting the flight: 5 modes


manipulations column, throttle, ..

commande

movements(velocity changes)

flight path

manœuvre

mission

side stick

parametric settings

Digital assignation ofnext traffic position

Long termtraffic position

substituterobot

delegaterobot

automate

control laws(augmenters)

servomechanisms

Long term objectivenumerical description

executionby machines

INFOCCO MTOATC traffic

Mode 5

Mode 4

Mode 3

Mode 2

Mode 1

Hierarchicalarchitecture ofautomatisms

automatisms

human

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Flight automationFlight automationConducting the flightConducting the flightmode 5mode 5 by missionby mission (full automatic)(full automatic)


manipula-tions column, throttle, ..

commande

movements

flight path

manœuvre

mission

mini stick

parametric settings




substituterobot

delegaterobot

automate

control laws

servomechanisms


The « substitute robot » isable to observe externalinformation, advices,constraints ( SOP,ATM/ATC, meteo, traffic,environment)

MTO


ATCCCOtraffic

Consequences on board staffing and

staff occupation

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Flight automationFlight automationTheoretical approach:Theoretical approach:design (and later usage) rulesdesign (and later usage) rules

Rule # 1 position identifiedRule # 2 hierarchical architectureRule # 3 comprehensivenessRule # 4 to « level n-1 », and NOT to « level n-2 ».

sub: keep on until human action.Rule # 5 running only if completed

sub: minimal form.consequence: automatic checking, modelization


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Human and automationHuman and automation

10

• Humain• « Fabrication » hors finalité• Population candidate limitée, diversité• Culture, Éducation (sentiments, langue, rapports sociaux)• Formation: enseignement et inculcation sur niveaux supérieurs• Fonctionnement contingent (stress, fatigue, simulateur,…)• Physiologie circadienne individualisée• Pas de conscience de sa panne propre, dysfonctionne

• Non déterministe, approximatif• Pugnace, inventif, donc peut être obsédé, obstiné• Cerveau relativement lent (flux et traitement)• Capteurs naturels permanents sensoriels limités• Surtout séquentiel• Cerveau toujours actif

• .Machine

• Fabrication selon plans• Ressource illimitée( (produit industriel)• Programmation totale (hard+soft)• Accumulation des savoirs des concepteurs • Configuration et mémoires stables. Peut être standardisé• Capable de fonctionnement répétitif, insensible au temps passé• Arrêt sans état d’âme sur panne• Localement déterministe,( ?) cf supra utilise des arguments précis,

• N’invente rien• Transfert et traitement très rapides des données• Capteurs selon construction et technologie• Parallélisme possible• Position « off »

Human and machine are irreducible one to theother.

Organizing and optimizing their cooperation isthe aim of present common research anddevelopment.

The way of exchanging their capabilities will notbe questioned here.

Commission Aéronautique Civile de l’AAE (CAC)Will Air Transport be Fully Automated by

2050?

01/06/2016 - JC Ripoll

Human and automationHuman and automation« (hu)man in the loop » : the loop« (hu)man in the loop » : the loop

Commission Aéronautique Civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050? 11

request or contractr

decisionobjectives

validity

mechanisms

executionmeans

command

processes

short term plan. presentation

interfaces

measurement

long term plan.

context

judgment

evaluation

interpretationUniversal loop ofcontrolled action

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HumanHuman and automation and automationman in the loop: interfaces depend on selectedman in the loop: interfaces depend on selectedmode. mode.


request or contract

decisionobjectives

validity

flight controls + servomechanisms

executionmeans

command

processes

short term plan. presentation

interfaces

measurement

long term plan.

context

judgment

evaluation

interpretation

Embedded sensorsand displays

HMI

1/2

1/2/3

5

4

3

4/5

HMI/IHM should be adapted to the mode (1 to 5) in usage

automatisms

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Safety and automationSafety and automation role of automation: role of automation: 1/Avoidance or correction of1/Avoidance or correction ofdysfunctions (disqualities)dysfunctions (disqualities)



decisionobjectifs

validity

mechanisms

executionmeans

command

processes

presentation

interfaces

measurement

context

judgment

evaluation

interpretationAutomation:

Monitoring/AvoidanceDetection/Alarms

Corrections

Starts at preparation of the flight concerning ATM, CCO, selection, transferand loading of data, covers all steps of the loop. See Rule #5.

long term plan.

short term plan.

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Safety and automationSafety and automation role of automation: role of automation: 2/ in flight prevention and correction 2/ in flight prevention and correction(failures, perils)(failures, perils)


14

• Prioritarymission

Keep everythingin order:Passengers,Crew,Cabin,Cargo,Fuel,Engines,Equipment,Airframe, etc

Oradapt the missionand the mode

Automatic monitoringand self repair

monitoring

rescue(sauvetage)

safeguard(sauvegarde)

protection(garde-fou)

emergencyautomatic return + final ground

control

Safety auto.functions

Intrusiveautomatisms

AutoGAStall recov.

collision avoid.traffic, terrain

forbid. zonesairspace, MTO

limitationsload f., AoA, disabled on

board staff

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Four typical automatismsFour typical automatisms


opérations(nominal flight)

support

active CONTROLLERS(AUTOMATON/ROBOT)

INTRUSIVE(non nominal)

passive AUGMENTERS(control laws,servomechanisms)

INFORMERS(request, draw,elaborate, present)

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Safety and automationSafety and automation to manage the multiplication of automatisms to manage the multiplication of automatisms in view of saving and increasing safety in view of saving and increasing safety


• Observe the design rules# 1 Identification with the actual type and function# 2 Hierarchical design and consistent organization# 4 Transfer limited to mode n-1#4 bis: effect of intrusive automatisms limited to reverse to the mode 3

• Optimize HMI- Consistent with the selected mode of conduct- Explicit and minimalist (synthetic) displays and signals

• Selection of new automatisms (under design rules)- Categorize the dysfunctions of the loop to be corrected- Evaluate the whole system “before” and “after” implementation

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Automation and systemAutomation and systeminformation and data reliabilityinformation and data reliability


• The privilege of automation (robot) is to update almost continuouslythe external data.

• Faulty or absent data will cause automatisms to stop working.Hence:

- actual redundancy (different technologies) for flight controlparameters

- production of “spare likely values” through a mathematicalmodel used in the reverse way.

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Automation and systemAutomation and systemmodel based automation: the generic airplanemodel based automation: the generic airplane


ATM/ATC, CCO, MTO terrain,notam, airports,

Technical specificparameters

(before start)

universalgeneric

algorithms

roboton board

from ground

Generic algorithms control specific aircraft through the adapted model(piloting a generic airplane)

adapted math model :appropriate parametersand “spare” values

act

what

how

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Automation and systemAutomation and systemmodel based automation: more math ?model based automation: more math ?


19

• need for a generalized state vector including non-physicalparameters, including risk, (to be quantified)• generic (universal) algorithms of the substitute robot optimize the

generalized trajectory• such an optimization under variable constraints with N parameters is

not simple task and requires high math• individual optimization does not lead to global optimum• who is in charge of globalism?

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Automation and systemAutomation and systemwho is conducting? (the “pilot”)who is conducting? (the “pilot”)


• Answer: a crew• Partly on board: - human

- machine• Partly on ground: - ATM/ATC

- CCO (airline ops, support)

CRM (crew resources management) includes:HMI/IHM and CDM (cooperative decision making)

ATC is actually conducting the flight in congested areas, in fact a number of flights at the same time (a swarm).

Individual intrusive automatisms should not induce chaos in theswarm!

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Automation and system Automation and system Mode level 3 (path control) as bottom lineMode level 3 (path control) as bottom line


• high precision flight excluding “manual” control• ATC conducting the flight in critic periods• controlling the flight path in extreme situation

the level 3 mode is considered as the best bottom line.

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Automation and systemAutomation and systemMode level 3 (path control) as bottom lineMode level 3 (path control) as bottom line


Recommendation :

Imagine, develop, implement, a comprehensiveflight path (local trajectory) control for human in charge:- synthetic presentation of aircraft status concerning the flight path

- synthetic mean for ordering the desired (local) trajectory

This leads to traditional controls disappearing entirely,and new cockpit design as a control room

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ConclusionConclusionCybernertic transition: Cybernertic transition: dealing firstdealing firstwith “Human in the loop” problems until elimination.with “Human in the loop” problems until elimination.


human on board:only judgmentloop

decideWhat to do now

Act

Act

mechanisms Robot’s loop

hidden part of thehuman’s loop, doesnot stop running

Modes 2, 3 and 4: mixed loop,« man in the loop » Mode 5:

human « above » the loop

IHM (allocation)complex & variable

N? years

Specific « human »dysfunctions

Possible groundcooperation

01/06/2016 - JC Ripoll

ConclusionConclusionCybernertic transition: Cybernertic transition: a long waya long waytowards successtowards success


The vision:• a large precompetitive specific program including certifiable

demonstrators.• a long period of in-service, “dual control” monitoring of the robots

(future users involved in the development)• transition achieved when “trainees” (robots) certified• staff selection and training radically changed• much more automation of ground systems• a virtual airspace designed for robots

The fully automatic passenger transport aircraft will be an autonomousdrone whose ultimate controller is on board.

Quasi-total automation gives back their true role to humans.

01/06/2016 - JC Ripoll Commission Aéronautique Civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050? 25

Merci de votre attention.

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Preliminary statementPreliminary statement


• D’un point de vue philosophique/ épistémologique, les travaux en courssur la relation homme/machine relèvent d’une régression vers unconcept de milieu du XXème siècle. Il s’agit de se retrouver dans lasituation d’un pilote confirmé, en pleine forme, conduisant un appareilextrêmement sur qu’il maîtrise parfaitement, dans un contexte« VMC/CAVOK » en toute circonstance (règle « see and avoid »).• Nous pensons qu’il faut au contraire adopter une vision du milieu du

XXIème siècle, dans un contexte d’espace complètement informatisécomme on le voit se développer avec « Big Data », les « Cloud », laconnexion nomade permanente des personnes et des objets.• L’avion sera un robot de transport de personnes évoluant dans un espace

défini virtuellement par les données numériques qui lui permettent decalculer les ordres donnés aux mécaniques.• Le niveau de précision exigé exclut les modes de conduite « manuelle ».

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ground taxiing excludedground taxiing excluded• Le roulage au sol pose un problème d’automatisation particulier. La

disposition et l’équipement varient d’un aéroport à l’autre, il n’est paspossible d’installer un équipement standard à bord capable de tousles cas. Par conséquent on imagine que le taxi sera effectué par untracteur (ou un traceur si les roues sont motorisées) équipé desmoyens locaux de routage automatique, seul l’accouplement serastandard.


Generic airplane and pilotl’application au pilotage depuis le sol de “model based automation” fait que letype/modèle/version de l’avion est transparent pour le pilote ou le robot qui décidentseulement de la manœuvre ou de la trajectoire, les réglages de commandes qui dépendent ducas particulier de l’avion sont faits par le calcul. donc le pilote au sol n’a plus besoin dequalification de type proprement dite, seulement de prendre en compte des limites (inerties)

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MODE 1 The (historical) pilot is given a mission. Mission ecomposed in manœuvres. Eachmanœuvre realised as pathes. Pathes derived in velocities. Velocities obtained bymanipulation of control effectors. All external information collected by the pilot(s)

MODE 2 Current standard for « manual flight »: pilot’s skills are increased by computers.First effect of digital fly by wire, enables complex manipulation of effectors.

MODE 3 The operator selects the parameters of the desired trajectory, and the automatoncomputes and command the flight controls steering.From then results are requested insteadof means.

« automaton »: open loop in the reference frame « air »MODE 4 Given the end point of the manœuvre, the « delegate » robot compute and

command the trajectories. Request and use external info.« robot » : closed loop to reach the target, observe (some) external information.

MODE 5 « Substitute robot » able to determine at each time the appropriate next manœuvreto realize the overall mission, under constraints (safety, Ops, SOP, ATM/ATC, Meteo,traffic, environment, economy).

Opens the hope of automatizing the entire mission, runway to runway, without humanaction. Impact the on board staffing and occupation (segments as a drone).

Flight automationFlight automationThe 5 modes for conducting the flightThe 5 modes for conducting the flight


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Flight automationFlight automationTheoretical approach: design rulesTheoretical approach: design rules

Rule # 1 Strictly and clearly identify any automatic control device with a positionin the system: Substitute robot, Delegate robot, Automaton, Augmenter(prostheses).

Rule # 2 Observe rigorously the hierarchical arrangement: Substitute > Delegate >Automaton.

Rule # 3 Observe rigorously the comprehensiveness of each device, id est. eachsuperior device has access to all the necessary inferior devices to achievecompletely its function under any circumstances, and if not so, consider thedevice as an inferior one.

Rule # 4 In case of failure of the selected « level n » mode, the system must godown to « level n-1 », and NOT to « level n-2 ». Subsidiary: in such a case the« level n-1 » must keep on until human action.

Rule # 5 Any automatism should not start running if the giveninformation/instructions are not complete and coherent. Subsidiary: thepertinence of information/instructions must be achieved under the minimal form.Consequence: automatic checking of coherence and comprehensiveness, throughappropriate modelization.

32Commission Aéronautique Civile de l’AAE (CAC)

Will Air Transport be Fully Automated by 2050?

01/06/2016 - JC Ripoll 33Commission Aéronautique Civile de l’AAE (CAC)

Will Air Transport be Fully Automated by 2050?

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manipula-tions

column, throttle, ..

human selectedmode commande

movements

flight path

manœuvre

mission

mini stick

parametric settings


Flight automationFlight automationConducting the flightConducting the flightmode 1 by direct control (full human operation)mode 1 by direct control (full human operation)

exécution

substituterobot

delegaterobot

automate

control laws

servomecanisms


The (historical) pilotis given a mission.Decomposed inmanœuvres.Each realised aspathes.Derived invelocities.Obtained bymanipulation ofcontrol devices.

All externalinformationcollected by thepilot(s)


CCOATCMTO

traffic


01/06/2016 - JC Ripoll 35


human selectedmode

de

commande

movements

flight path

manœuvre

mission

side stick

parametric settings


Flight automationFlight automationConducting the flightConducting the flightmode 2mode 2 by movements (augmented human)by movements (augmented human)

exécution

substituterobot

delegaterobot

automate

flight controllaws

servomecanisms


Current standard for« manual flight »:pilot’s skills areincreased bycomputers.

First effect of digital flyby wire, enablescomplex manipulationof effectors.


CCOATCMTO

traffic


01/06/2016 - JC Ripoll 36


human selectedmode commande

movements

flight path

manœuvre

mission

mini stick

parametric settings


Flight automationFlight automationConducting the flight Conducting the flight mode 3mode 3 by flight path (human master)by flight path (human master)

exécution

substituterobot

delegaterobot

automate

control laws

servomecanismes


The operatorselects theparameters ofthe desiredtrajectory, andthe automatecompute andcommand theflight controls.

« automaton »:open loop in thereference frame« air »Continuousmonitoringdemanded


CCOATC

MTO

traffic


01/06/2016 - JC Ripoll 37


commande

movements

flight path

manœuvre

mission

mini stick

parametric settings


Flight automationFlight automationConducting the flightConducting the flightmode 4mode 4 by manœuvre (robotized)by manœuvre (robotized)


substituterobot

delegaterobot

automate

control laws

servomechanisms


Given the endpoint of themanœuvre, the« delegate »robot computeand commandthe trajectories.

Request anduse externalinfo.

« robot » :- closed loop toreach the target- observe (some)externalinformation.

human selectedmode

CCO

MTOATCtraffic


01/06/2016 - JC Ripoll

Flight automationFlight automationConducting the flightConducting the flightmode 5mode 5 by missionby mission (full automatic)(full automatic)

38

human selectedmode


commande

movements

flight path

manœuvre

mission

mini stick

parametric settings




substituterobot

delegaterobot

automate

control laws

servomechanisms


« Substitute robot »able to determine ateach time theappropriate nextmanœuvre to realisethe overall mission,under constraints(Ops, SOP, ATM/ATC,meteo, traffic,environment)

MTO


ATCCCOtraffic


01/06/2016 - JC Ripoll Commission Aviation civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050?

39

01/06/2016 - JC Ripoll

Human and automationHuman and automationman in the loop man in the loop

Commission Aviation civile de l’AAE (CAC)Will Air Transport be Fully Automated by 2050?

40

request or contract

décisionobjectifs

validité


exécutionmoyens

commande

procédés

ordonnancement présentation

interfaces

mesure

planification

contexte

jugement

évaluation

interpretation

automatismeshumain

Embeddedmeasurements and

displays

Control modes 1 and 2« full human »

HMI !

Sensoriel and imaginative« informations »

01/06/2016 - JC Ripoll 41


request or contract

décisionobjectifs

validité


exécutionmoyens

commande

procédés


interfaces

mesure

planification

contexte

jugement

évaluation

interpretation

Control mode 3with « automates »

automate

Continuous monitoringrecommended

Continuouspreparation of thefollowing step


01/06/2016 - JC Ripoll 42


request or contract

décisionobjectifs

validitéexécutionmoyens

commande

procédés


interfaces

mesure

planification

contexte

jugement

évaluation

interpretation


Control mode 4« delegate robot »

« no problem »

« problem » or end of task


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Human and automationHuman and automationman and the loopman and the loop

request or contract

décisionobjectifs

validitéexécutionmoyens

commande

procédés


interfaces

mesure

planification

contexte

jugement

évaluation

interpretation


control mode 5« substitute robot »

What to do now?


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Boyd’s loop applies in emergency (combat or failure)Boyd’s loop applies in emergency (combat or failure)


décisionobjectifs

validité

mécanismes

exécutionmoyens

commande

procédés


interfaces

mesure

planification

contexte

jugement

évaluation

interpretationD

AO

O

BOYD ‘s loop


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