L. Résultats-de, APM causal (avec rails), p.117

A. Maître, /. Esclave, and ). , Les modes propres : rail et hexapode, p.174

. Haut, Accélération réelle et Accélération du simulateur ; Bas : Angle de tilt, p.174

. Notons, angle de tilt (bas de la figure Fig.8.8) est indépendant du mode comme indiqué dans le schéma Simulink Fig.8.6) Les figures 8.11 et 8

L. 'algorithme-symétrique-est-basé-sur-une-logique-de-relais, rôle et la permutation s'effectue quand le d.d.l actif a terminé le freinage et entame le retour imperceptible en position neutre. L'algorithme maître/esclave différentie le rôle des deux d.d.l : c'est uniquement le d.d.l. maître qui reproduit les accélérations de référence tandis que l'esclave compense les mauvais comportements (freinage et retour en position neutre) du maître. Par conséquent, les phases de freinages et de retour sont perçues par le conducteur comme des phases où les sensations sont absentes. Les simulations réalisées sur ces deux algorithmes montrent que l'ARI maître/esclave est plus adapté à la simulation de conduite. La validation de ces méthodes hybrides par le biais de méthodes formelles nous permettra d'assurer leur bon fonctionnement indépendamment du scénario de test. Notons néanmoins que la vérification formelle atteint ses limites quand l'automate hybride est dans sa forme générale (équations dynamiques non linéaires) Les méthodes exactes se révèlent limitées même au niveau des automates appelés " linéaires " où la dérivée des variables dynamiques est constante. En effet, pour ce type de systèmes, le problème d'atteignabilité est indécidable (hormis quelques cas théoriques bien connus) Dans le cas général, des outils de calcul approchés permettent de traiter les dynamiques linéaires par morceaux (description), comme l'outil [Bohoua-Nassé Compréhension et modélisation du comportement conducteur et de sa perception, 2004.

. Borah, Optimal estimator model for human spatial orientation, 1988.

D. Bowers, Encyclopedia of automatic musical instruments, 1972.

. Cardullo, Motion cueing algorithms : A human centered approach, 5th International Symposium on Aeronautical Sciences, 1999.

W. W. Chung, A review of approaches to determine the effectiveness of ground-based flight simulation, Modeling and Simulation Technologies Conference, 2000.
DOI : 10.2514/6.2000-4298

A. Dandurand, La rigidité des réseaux spatiaux composés, 1984.

. Dasgupta, . Choudhury, B. Dasgupta, and P. Et-choudhury, A general strategy based on the Newton???Euler approach for the dynamic formulation of parallel manipulators, Mechanism and Machine Theory, 1999.
DOI : 10.1016/S0094-114X(98)00081-0

[. Marco and A. , A brief history of aircraft flight simulation, 2003.

. Deyo, Getting graphics in gear, ACM SIGGRAPH Computer Graphics, vol.22, issue.4, pp.317-326, 1988.
DOI : 10.1145/378456.378535

W. Q. Do and D. C. Et-yang, Inverse dynamic analysis and simulation of a platform type of robot, Journal of Robotic Systems, vol.106, issue.3, 1988.
DOI : 10.1002/rob.4620050304

. Elloumi, An Encompassing Formalization of Robust Computed Torque Schemes of Robot Systems, Proceedings of the 44th IEEE Conference on Decision and Control, 2005.
DOI : 10.1109/CDC.2005.1583001
URL : https://hal.archives-ouvertes.fr/hal-00505084

. Elloumi, Integrated model?based control with human perception models in driving simulation, 17th IMACS World Congress Scientific Computation, Applied Mathematics and Simulation, 2005.
URL : https://hal.archives-ouvertes.fr/hal-01320812

. Elloumi, An optimal control scheme for a driving simulator, 2nd International Conference on Informatics in Control, 2005.

. Fernandez, . Goldberg, C. Fernandez, and J. M. Et-goldberg, Physiology of peripheral neurons innervating semicircular canals of the squirrel monkey . ii. response to sinusoidal stimulation and dynamics of peripheral vestibular system, Journal of Neurophysiology, vol.34, issue.4, pp.661-675, 1971.

. Fernandez, . Goldberg, C. Fernandez, and J. M. Et-goldberg, Physiology of peripheral neurons innervating otolith organs of the squirrel units, iii : Response dynamics, Journal of Neurophysiology, vol.39, issue.5, pp.996-1008, 1976.

. Geng, . Haynes, Z. Geng, and L. S. Et-haynes, Six-degree-of-freedom active vibration isolation using a stewart platform mechanism, Journal of Robotic Systems, vol.9, issue.5, 1993.
DOI : 10.1002/rob.4620100510

. Goodwin, Constrained control and estimation , an optimization approach, 2004.

. Gouverneur, Optimisation of the SIMONA Research Simulator's Motion Filter Settings for Handling Qualities Experiments, AIAA Modeling and Simulation Technologies Conference and Exhibit, 2003.
DOI : 10.2514/6.2003-5679

. Grant, Enhancements to the nads motion drive algorithm for low-speed urban driving, Driving Simulation Conference, 2004.

W. Grant and W. Et-best, Otolith?organ mechanics : Lumped parameter model and dynamic response, Aviation Space and Environmental Medicine, pp.970-976, 1987.
DOI : 10.1007/bf02584273

. Gruening, Driving Simulation, SAE Technical Paper Series, 1998.
DOI : 10.4271/980223

. Guo, The results of a simulator study to determine the effects on pilot performance of two different motion cueing algorithms and various delays, compensated and uncompensated, 2003.

M. Hoffman, R. Hoffman, and M. Et-mckinnon, Vibrational modes of an aircraft simulator motion system, 5th World Congress on Theory of Machines and Mechanism, pp.603-606, 1979.

. Hosman, Abstract, Royal Aeronautical Society Conference on Flight Simulation, 2002.
DOI : 10.2514/3.25360

R. J. Hosman, Pilot perception and control of aircraft motions, Thèse de Doctorat, 1996.

S. Ish, ?. Ish, and J. Shalom, The design of optimal control motion for flight simulators, Thèse de Doctorat, 1982.

. Jamson, H. Mouta-]-jamson, and S. Et-mouta, More bang for your buck ? a cross-cost simulator evaluation study, Driving Simulation Conference, 2004.

M. Johansson and J. Et-nordin, A survey of driving simulators and their suitability for testing volvo cars, 2002.

T. Kato, Perturbation theory for linear operator, 1966.

A. Kemeny, Simulation et perception, Introduction de la Conférence sur la Simulation de Conduite, 1999.

H. Khalil, Nonlinear systems, 2002.

S. Koekebakker, Model based control of a flight simulator motion system, Thèse de Doctorat, 2001.

. Lebret, Dynamic analysis and control of a stewart platform manipulator, Journal of Robotic Systems, vol.33, issue.5, 1992.
DOI : 10.1002/rob.4620100506
URL : https://hal.archives-ouvertes.fr/hal-01147121

. Lewis, Robot manipulator control, 2004.
DOI : 10.1201/9780203026953

L. Et-salcudean, D. Li, and S. E. Et-salcudean, Modeling simulation and control of a hydraulic stewart platform, International Conference on Robotics and Automation, 1997.

R. Mcfarland, Adjustable limiting algorithms for robust motion simulation, AIAA Modeling and Simulation Technologies Conference and Exhibit, 2001.
DOI : 10.2514/6.2001-4305

. Merlet and J. Merlet, Determination of 6D?workspaces of Gough?type parallel manipulator and comparaison between different geometries, 12th RoManSy, pp.261-268, 1998.

J. Merlet, Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis, The International Journal of Robotics Research, vol.23, issue.3, pp.221-235, 2004.
DOI : 10.1177/0278364904039806

. Merlet and J. Merlet, Determination of the Presence of Singularities in 6D Workspace of a Gough Parallel Manipulator, 1998.
DOI : 10.1007/978-94-015-9064-8_4

J. Merlet, Parallel Robots, volume 74 of Solid mechanics and its applications, 2000.

K. Moore, A brief history of aircraft flight simulation (web page), 2005.

R. Nahon, M. A. Nahon, and L. D. Et-reid, Simulator motion-drive algorithms - A designer's perspective, Journal of Guidance, Control, and Dynamics, vol.13, issue.2, pp.356-362, 1989.
DOI : 10.2514/3.20557

. Nahon, Adaptive simulator motion software with supervisory control, Journal of Guidance, Control, and Dynamics, vol.15, issue.2, 1992.
DOI : 10.2514/3.20846

. Neering, On possibilities of driver behavior prediction for driving simulator control, Driving Simulation Conference, 2006.

. Nordmak, The new vti driving simulator. multi purpose moving base with high performance linear motion, Driving Simulation Conference, 2004.

C. C. Ormsby, Model of Human Dynamic Orientation, Thèse de Doctorat, Massachusetts Institute of Technology, 1974.

. Parrish, Coordinated Adaptive Washout for Motion Simulators, Journal of Aircraft, vol.12, issue.1, pp.44-50, 1975.
DOI : 10.2514/3.59800

N. Petit, Commande prédictive. Notes de cours, 2004.

D. Qu, Z. Qu, and D. Et-dawson, Robust tracking control of robot manipulators, 1996.

J. Rasmussen, Skills, rules, and knowledge; signals, signs, and symbols, and other distinctions in human performance models, IEEE Transactions on Systems, Man, and Cybernetics, vol.13, issue.3, 1983.
DOI : 10.1109/TSMC.1983.6313160

R. Et-nunes-]-recarte, M. Et-nunes, and L. , Mental workload while driving : effects on visual search, discrimination and decision making, Journal of experimental psychology, 2003.

R. , G. Reid, L. Grant, and P. , Motion algorithm for large-displacement driving simulator, Transportation Research Record, 1993.

R. Et-nahon-]-reid, L. D. Et-nahon, and M. A. , Flight simulation motion-base drive algorithms : Part 1 ? developing and testing the equations, 1985.

H. Reinhard, Equations différentielles, Fondements et applications, 1982.

G. Reymond, Contribution des stimuli visuals, vestibulaires et proprioceptifs dans la perception du mouvement du conducteur, Thèse de Doctorat, 2000.

G. Reymond, Contribution respectives des stimulis visuels, vestibulaires et proprioceptifs dans la perception du mouvement du conducteur, Thèse de Doctorat, 2000.

C. Samson, Commande non lineaire robuste des robots manipulateurs, 1983.
URL : https://hal.archives-ouvertes.fr/inria-00076376

. Sepulchre, Constructive nonlinear control, 1997.
DOI : 10.1007/978-1-4471-0967-9
URL : http://orbi.ulg.ac.be/jspui/handle/2268/75104

. Shmid, Modelling of the vestibulo?ocular reflex and its use in clinical vestibuilar analysis, Applied Physiological Mechanics, pp.779-893, 1979.

. Shmidt, . Conrad, S. F. Shmidt, and B. Conrad, Motion drive signals for piloted flight simulators, 1970.

I. Siegler, Contribution à l'étude de la perception vestibulaire du mouvement propre et ses relations avec la stabilisation du regard et l'orientation spatiale, Thèse de Doctorat, 2000.

. Siegler, Sensorimotor integration in a driving simulator : contributions of motion cueing in elementary driving tasks, Driving Simulation Conference, 2001.

. Sivan, An Optimal Control Approach to the Design of Moving Flight Simulators, IEEE Transactions on Systems, Man, and Cybernetics, vol.12, issue.6, 1982.
DOI : 10.1109/TSMC.1982.4308915

L. Slotine, J. Slotine, and W. Li, Applied nonlinear control, 1991.

. Squires, A mathematical model for top-shelf vertigo: the role of sedimenting otoconia in BPPV, Journal of Biomechanics, vol.37, issue.8, 2004.
DOI : 10.1016/j.jbiomech.2003.12.014

S. Straus, New, improved, comprehensive and automated driver's license test and vision screening system, Arizona Departement of Transportation, 2005.

R. J. Telban, A non?linear motion cueing algorithm with a human perception model, AIAA Modeling and Simulation Technologies Conference, 2000.

C. Telban, R. J. Telban, and F. M. Et-cardullo, An integrated model of human motion perception with visual-vestibular interaction, AIAA Modeling and Simulation Technologies Conference and Exhibit, 2001.
DOI : 10.2514/6.2001-4249

C. Telban, R. J. Telban, and F. M. Et-cardullo, A Nonlinear, Human-Centered Approach to Motion Cueing with a Neurocomputing Solver, AIAA Modeling and Simulation Technologies Conference and Exhibit, pp.2002-4692, 2002.
DOI : 10.2514/6.2002-4692

. Telban, Investigation of mathematical models of otolith organs for human centered motion cueing algorithms, Modeling and Simulation Technologies Conference, 2000.
DOI : 10.2514/6.2000-4291

L. Tsai, Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work, Journal of Mechanical Design, vol.122, issue.1, 2000.
DOI : 10.1115/1.533540

. Van-der-shaft, . Schumacher, A. Van-der-shaft, and H. Schumacher, An introduction to hybrid dynamical systems, Lecture Notes in Control, vol.251, p.251, 1999.
DOI : 10.1007/BFb0109998

S. Van-der and H. Van-der-steen, Self?Motion Perception, Thèse de Doctorat, 1998.

. Van-egmond, The mechanics of the semicircular canal, The Journal of Physiology, vol.110, issue.1-2, pp.1-17, 1949.
DOI : 10.1113/jphysiol.1949.sp004416

L. R. Young, Visual?vestibular interaction, Sixth International Symposium on Biocybernetics, 1977.

L. R. Young, Visually induced motion in flight simulation, AGARD Symposium on Flight Simulation, 1978.

Y. Young, L. R. Et-meiry, and J. L. , A revised dynamic otolith model, Aerospace Medicine, vol.39, issue.6, pp.606-608, 1968.

Y. Oman, L. R. Young, and C. M. Et-oman, Model for vestibular adaptation to horizontal rotation, Aeropspace medecine, issue.10, pp.401076-1080, 1969.

Y. Oman, L. R. Young, and C. M. Et-oman, Influence of head position and field on visually induced motion effects in three axes of rotation, Proceedings of the 10th Annual Conference on Manual Control, 1974.

G. L. Zacharias, Motion sensation dependence on visual and vestibular cues, Thèse de Doctorat, Massachusetts Institute of Technology, 1977.

G. L. Zacharias, Motion cue models for pilot-vehicule analysis, AMRL?, pp.78-80, 1978.

Y. Zacharias, G. L. Zacharias, and L. R. Et-young, Influence of combined visual and vestibular cues on human perception and control of horizontal rotation, Experimental Brain Research, vol.41, issue.2, pp.159-171, 1981.
DOI : 10.1007/BF00236605

J. Zaytoon, Systèmes dynamiques hybrides, 2001.