HAL Id: hal-02877414
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Submitted on 19 Aug 2020
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Different paths to automation
Patrick Dujardin, Jean-Marc Alliot, Paul-Henri Mourlon
To cite this version:
Patrick Dujardin, Jean-Marc Alliot, Paul-Henri Mourlon. Different paths to automation. IFAC Pro-
ceedings Volumes, Elsevier, 1994, IFAC Symposium on Transportation Systems: Theory and Appli-
cation of Advanced Technology, Tianjin, PRC, 24-26 August, 27 (12), pp.225-230. �10.1016/S1474-
6670(17)47473-8�. �hal-02877414�
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674 4P4: <B @:4>5<BC 6:>? @ S4D >BS W<67 674 4[<56<BC
6:>? @ D >B >C4D 4B6 @>K>@<6J OJ <B@:4>5<B C 674 B9 D Q
O4: 38 @3B6:3EE4S ><: P3E9D 45V ><: 6:>? @ @3B6:3EE4:5V
>B S :>S<3 8:4l94B@<45X ÿ 4B@4 B4W @3B @4K65 7 >P4 63 O 4
<BP456<C>64S 63 3P4:@3D 4 674 4[<56<BC @>K >@<6J >BS 48Q
m @<4B @J :456:<@6<3B5V 8:4l94B6EJ @>954S OJ 79D >B K4:Q
83:D >B @4 E<D <6>6<3B5X
GB 3:S4: 63 D >H4 3K6<D 9D 9 54 38 674 >P><E>OE4 :4Q
539:@45V ><: 6:>? @ <5 KE>B B4S >5 K:4@<54EJ >5 K 355<OE4
>6 >BJ C<P4B D 3D 4B65X GB ; `] abbbVI<C76 KE>B 5 >:4 >
S45@:<K6<3B 38 x y {r{ 6:>N4@63:<45V 8:3D 67 4 K:454B6
><:@:>86 K35<6<3B 63 <65 S456<B >6<3B ><:K 3:6X =7 454 6:>Q
N4@63:<45 >:4 B4C36<>64S >B S >C:44S O46W44B C:39B S
T;= ] 5J564D U >B S ><:@:>86 Ti A YQj2 UX = 7454 6:>N4@Q
63:<45 >:4 >5 3K6<D 9D >5 K 355<OE4 <B 64:D 5 38 6<D 4
>B S 894EV >BS 8:44 38 @4:6><B @3BI <@65X = 74J K:3P<S4
53D 4 I 4[<O<E<6J 83: 9B @4:6><B K:3[ <D <6<45 3: K 364B6<>E
@3B56:><B65_ 674J @>B O 4 @3B5<S4:4S >5 j2 Q69O 45 38 >
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6:>@6 O 46W 44B 67 4 C:39B S 5J564D >B S 674 3BQO 3>:S
i A Y 5J564D X G8V 83: >BJ :4>53B 5V 3B 4 38 674 >C4B65
7 >S 63 @7>B C4 67<5 @3B6:>@6V > B4W B4C36<>6<3B W39ES
6>H4 K E>@4 63 :4>@7 > B4W >C:44D 4B6X
= 74 ; ` ] abbb KE>BB<BC 56:>64CJ <5 63 C9 >:>B644
@3BI <@6 8:44 6:>N4@63:<45 83: 674 B 4[6 ab D <B9645_ > O >EQ
>B@4 D 956 >EW >J5 O 4 839 BS O46W 44B KE>BB <BC @3BI <@6Q
8:44 6:>N4@63:<45 E3BC <B >SP>B@4V3: K356K 3B4 67>6 >BS
7 >P4 63 :4P<54 6:>N4@63:<45 @3B6<B9 39 5EJX = 74 @3D K:3Q
D <54 <B ; ` ]abbb <5 63 KE>B 67 4 W 73E4 6:>N4@63:J >5
@3BI <@6 8:44 >5 K 355<OE4V >B S 63 D 3B <63: K:3[<D <6<45V
38 W7 <@7 @4:6><B D >J O 4@3D 4 K 364B6<>E @3BI <@65X Y3V
W <67 > D <B<D 9D 38 ab 63 pb D <B9 645 <B >SP>B @4V 674
6:>? @ 5<69>6<3B <5 3:C>B<R4S >5 @3BI <@6 8:44 4[ @4K6 83:
53D 4 K:3[<D <6<45 9B S4: 5K 4@<>E D 3B<63:<BC >B S O4Q
J3B S 67<5 K 4:<3S V3BEJ 67354 5<69 >6<3B 5 W 74:4 > K 364BQ
6<>E @3BI <@6 <5 m :D EJ S<>CB354S D >J O 4 59 ON4@6 63 674
:43:C>B<R>6<3B 38 I<C765X
= 74 ; ` ]Qabbb 5J564D @>B B36 O 4 @3B5<S4:4S >5 >
5J564D 3K6<D <R<B C 674 xt 5J564D V <X4X >EE KE>B45
6:>N4@63:<45X GB 8>@6V 4>@7 6<D 4 > B4W K E>B 4 <5 <B6:3Q
S9 @4S <B ; ` ]abbbV<65 3K6<D >E 6:>N4@63:J <5 @3D K9 64S
w{u t rz { xrz{s y tu {v rst{rxsw{v zwz zt{ t
s{t ! {{u x y"r{ V 67454 6:>N4@63:<45 O4<BC 67 4 @3BQ
56:><B65X Y3V 67 4 E>56 KE>B 4 63 @3D 4 <B63 67 4 5J564D
<5 >E53 674 D 356 K4B>E<R4S X =7 <5 7 >5 674 >SP>B6>C4V
73W 4P4:V 63 :4S9 @4 674 B9D O 4: 38 @3D K9 6>6<3B5V 674
@3D KE4[<6J 38 674 >EC3:<67D <B @7>:C4 38 @>E@9 E>6<BC
6:>N4@63:<45V >BS 63 S<D <B<57 674 B9D O 4: 38 I<C76 KE>B
D 3S<m @>6<3B 5X
= 74 ; `] abbb 5J564D <5 P4:J S<? @9 E6 63 <B64C:>64 <B
> 6:>B 5<6<3B 5@4B >:<3X ; 5 <6 <5 > 8:44Q:3964V @3D KE464EJ
>963D >64S 5J564D V <6 <5 S4mB<64EJ <B 3KK 35<6<3B W <67
>EE56>BS>:S W3:H K :3 @4S9 :45 <B 954 63S>JX ] 3B6:3EE4:5
7 >P4 S4m B<64EJ 63 O4 396 38 674 @3B6:3E E33K <B 59@7 >
5J564D X =7 4 K:3OE4D <5 63 HB3W 73W W 4 @39ES K >55
8:3D > @E>55<@>EV 79D >B @4B64:4S 5J564D 63 59@7 >B
>963D >64S 5J564D X
¬ ¹# ³ ´ú´$ ° % ¹ û °¶´³ # & ÷ ¯ '
ï ` ;= Õ ( <5 > K :3N4@6 ><D 4S >6 C<P<BC > @3CB<6<P4
D 3S4E<B C 38 67 4 79D >B 3K 4:>63: <B 3:S4: 63 C<P4 7 <D
><S<B C 633E5 63 K 4:83:D :453E9 6<3B X = 74 D ><B <S4> <5
63 D ><B6><B 674 @3B6:3EE4: l9 >E<m@>6<3B VW 7<E4 4B7 >B @Q
<B C 7<5 @>K >@<6J <B 64:D 5 38 B9D O 4: 38 @3BI<@6 74 @>B
7 >BSE4 OJ K:3P<S<BC 7<D :4E4P>B6 <B83:D >6<3B X =7 4
K:3N4@6 >EE3W 5 63 S4mB4 53D 4 @33K 4:>6<P4 633E5 6>HQ
<B C >SP>B6>C4 38 > 59<6>OE4 <B83:D >6<3B mE64:<BC V 67>6
@>B O 4 @3B5<S4:4S >5 > @3B6:3EE4:5 4E4@6:3B<@ >55<56>B6
c)4:gphX
= 7<5 >KK:3>@7 7>5 > C:4>6 >SP>B6>C4_ <65 >@@4KQ
6>B @4 8>@63: <6 W <EE B36 @7 >BC4 67 4 W>J @3B6:3EE4:5
>E:4>SJ W3:H V >BS <5 674B D 9@7 4>5<4: 63 <B @E9 S4 <B >B
4[<56<BC ;= ] 5J564D X
GB 64:D 5 38 6:>B5<6<3B 63 >B >963D >64S 5J564D V67<5
>KK:3>@7 <5 4[>@6EJ 3B 674 3K K35<64 5<S4 @3D K>:4S 63
; `] abbbX = 74:4 <5 @9::4B6EJ B3 W >J 63 >963D >64 >BJQ
67<B C 83EE3W<BC 67<5 >K K:3>@7 V>BS V<B 8>@6V >963D >6<3B
*
5J564D X Õ 674: S:>W O>@H5 38 67<5 >KK:3>@7 >:4 S<5Q
@9 554S <B 54@6<3B jXaXa >B S W <EE B36 O4 S<5@9554S 74:4
>C><B X
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63D >64S @3B6:3E 5J564D K:3N4@6V W 7354 @3B@4K6 <5 5Q
69S<4S OJ 67 4 A G= ` ï @3:K 3:>6<3B V 5K 3B53:4S OJ 67 4
i; ; X GB ; ï ` ; pV 67 4 >963D >64S 5J564D >559D 45 83:
674 m:56 6<D 4V :45K3B5<O<E<6J 83: 54K >:>6<BC ><:@:>865V
W 74:4>5 ; ï ` ; Ñ >BS ; ï ` ; a E486 67<5 :45K 3B 5<O<E<6J
63 67 4 @3B6:3EE4:X ÿ3W4P4:V ; ï `; p D 956 O 4 544B >5
674 @3B6<B9 >6<3B 38 ; ï `; Ñ >B S ; ï ` ; a >B S 67<5
D >J 4[K E><B <65 56:9 @69:4X GB ; ï ` ; pV 573:6 64:D V
D 4S<9D 64:D >BS E3B C 64:D KE>BB <BC >:4 :4K:454B6Q
4S OJ 67:44 B 4564S 574EE5X = 74 <BB4:D 356 574EEV @>EE4S
; 963D >64S Y4K >:>6<3B i9B @6<3B T; Yi UV 3BEJ :453EP45
K><:W <54 54K>:>6<3B K:3O E4D 5V @3B5<S4:<BC 674D 3B 4
>6 > 6<D 4X ; Y i 3BEJ E33H5 > 84W D <B9 645 <B 674 89Q
69:4 TB36 D 3:4 67 >B mP4 D <B9645UX = 74 B4[ 6 574EE
39 6V 67 4 A >B 49P4: Õ K6<3B A >B >C4: TA Õ A UV @3B 5<SQ
4:5 <B64::4E>64S K ><:W <54 54K>:>6<3B K :3OE4D 5 T@>EE4S
@E9564:5U >D 3BC 5465 38 ><:@:>865X G6 S464:D <B45 > 546
38 D >B49P4:5 T@>EE4S 39 65U W 74:4OJ 59 @7 <B64::4E>64S
K355<OE4 K:3OE4D 5 >:4 5<D K E<m 4S <B63 K ><:W <54 K 355<OE4
K:3O E4D 5V T@>EE4S K 355<OE4D 5UX A Õ A E33H5 >O 39 6 pb
D <B9645 <B 67 4 8969:4X =7 4 39 64:D 356 574EE <5 HB3W B
>5 674 ; <:5K >@4 A >B>C4: KE>B B<BC 89B@6<3B5V W 7354
E33H>7 4>S K 4:<3S <5 >O 396 gb D <B9645X G6 <5 67 4 3BEJ
6>5H K>:6EJ E486 63 674 @3B6:3EE4:V W 73 W 39ES O 4@3D 4
>B ><:5K >@4 D >B >C4:X = 7<5 57 4EE @3B5<565 38 >963D >Q
6<3B ><S5 63 K:4P4B6 6:>? @ 8:3D O 4@3D <BC 633 S4B54
83: A Õ A 63 7>BSE4X
= 74 ; ï ` ; p K:3N4@6 W >5 > 89EE>963D >6<3B K:3N4@6X
= 74 ; ï ` ; aV >BS ; ; Y/ K:3N4@65 >:4 5E<C76EJ S<Z4:Q
4B6X =7 4 <S4> 674:4 <5 63 K:3P<S4 67 4 @3B6:3EE4: W <67
S<:4@6 :453E9 6<3B 53E96<3B5V 67 4 @3B6:3EE4: O 4<B C 56<EE <B
@7>:C4 38 674 S4@<5<3B 63 E46 674 D >@7 <B4 <D KE4D 4B6
674 K:3K 354S :453E96<3B 3: 63 @7>BC4 67<5 :453E96<3B 63
C<P4 7 <D 54E8 7<5 3W B :453E96<3B X
= 74 6:>B5<6<3B 8:3D ; ï ` ; Qa 63 ; ï ` ; Qp <5 l9<64
@E4>:_ 674 @3B6:3EE4: <B ; ï `; Qa <5 >ED 356 3B EJ > 59Q
K4:P<53:V >BS <B ; ï ` ; Qp 7 4 W <EE O4@3D 4 3B EJ > 59Q
K4:P<53: <B @7 >:C4 38 D 3B<63:<BC 674 O47 >P<3: 38 67 4
5J564D >BS 38 6>H<BC 56:>64C<@ S4@<5<3B5V <B 64:D 5V 83:
4[>D KE4V38 I 3W D >B >C4D 4B6X
= 74 S:>W O>@H5 >:4 W 4EE HB3W B >B S 674 D ><B :<5H <5
674 83EE3W <B C_ 674 @3B6:3EE4: W <EE :4EJ D 3:4 >BS D 3:4
OE<BSEJ 9K3B 67 4 D >@7 <B4 >B S W <EE 674B >ED 356 >963Q
D >6<@>EEJ P>E<S>64 @3D K 964: 53E9 6<3B 5 W <67396 S39OE4Q
@74@H<BC X A 3:43P4:V<B @>54 38 5J564D 8><E9:4V74 D <C76
B36 O 4 >OE4 63 6>H4 @7>:C4 >C><B 38 674 @3B6:3E 5J564D X
0
= 74 YÙ ï ] = ` ; ^5 >KK:3>@7 <5 674 83EE3W <BC _ 674
K:<B @<K E4 <5 63 57 >:4 6>5H5 O 46W44B 67 4 @3D K964: :45Q
3E96<3B K:3C:>D >B S 674 79D >B 3K 4:>63: TcÙ E>gphUX
= 74 D ><B <S4> <5 63 E46 67 4 3K4:>63: <B @7>:C4 >5 E3BC
>5 W3:HE3>S <B 674 54@63: <5 B36 633 E>:C4X ; 5 533B
>5 W 3:HE3>S :4>@745 > C<P4B E4P4EV 67 4 @3D K 964: W <EE
>963D >6<@>EEJ 6>H4 @7>:C4 38 5<D KE4 @3BI<@65V E4>PQ
<B C 63 674 79 D >B 3K 4:>63: 674 :453E96<3B 38 S<? @9E6
K:3OE4D 5X
GB > 6:>B5<6<3B K7 >54V 67 <5 64@7 B<@ 7 >5 D >BJ >SP>BQ
6>C45X GB 674 O 4C<B B<B CV <8 674 K :3C:>D <5 3BEJ >O E4 63
7 >BSE4 P4:J 5<D KE4 K :3OE4D 5V 674 @3B6:3EE4: @>B 56<EE
53EP4 674 :4D ><B<B C 3B45X ; 5 533B >5 674 K :3C:>D O4Q
@3D 45 O 4664: 83: @3BI <@6 :453E96<3B V <6 W <EE 53EP4 D 3:4
>BS D 3:4 K:3O E4D 5 <B > C:>S9>EVK :3C:455<P4 W >JX = 7<5
<5 S4mB <64EJ >B 4[@4EE4B6 >KK:3>@7 63 7 >P4 > 5D 3367
6:>B5<6<3B 8:3D > @3B6:3E 5J564D @3D KE464EJ D >B>C4S
OJ > 79 D >B 3K 4:>63: >BS > @3B6:3E 5J564D W 74:4 674
@3D K9 64: <5 >ED 356 @3D KE464EJ <B @7 >:C4X A 3:43P4:V
674 79 D >B 3K4:>63: W <EE56<EE 7>P4 K:3OE4D 5 63 53EP4 <B
9B S4:QE3>S4S K 4:<3 S V>B S W<EE 67 4B O 4 >OE4 63 D ><B6><B
7<5 l9 >E<m @>6<3B X
= 74 YÙ ï ]= `; 5J564D V >K >:6 8:3D 5K 4@<m @ 4[ K4:<Q
D 4B65 7 >5 O 44B <B64C:>64S <B 3B4 38 674 5@4B >:<35 4P>EQ
9 >64S S9 :<BC 674 Y½ Gi = K :3N4@6 W 7<@7 ><D 5 >6 S4m BQ
<B C 674 8969:4 @3B6:3EE4: W3:H<BC K35<6<3B Tc2 9Ngp>hUX
Õ 8 @39 :54V 674:4 >:4 >EW>J5 S:>W O>@H5 4P4B <B 67<5
>KK:3>@7 X = 74 D ><B :<5H <5 674 >9 63D >6<@ >EE3@>6<3B 38
674 :453E96<3B 38 53D 4 @3B I<@65 63 674 @3D K964:X ï P4B
<8 674 79D >B 3K 4:>63: <5 >W >:4 38 674 >EE3@>6<3B V 74
D <C76 83:C46 67>6 53D 4 KE>B45 W<EE O 4 D 3P4S V3: 83:C46
73W 674J W <EE O4 D 3P4S >B S 73W <6 D <C76 <B64:84:4
W <67 674 :453E96<3B5 74 7 >5 63 K 4:83:D X
ÿ 3W 4P4:V 67<5 <5 S4mB<64EJ 3B4 38 674 D 356 K :3D <5Q
<B C 64@7B <@5 63 @3D KE464 > @3::4@6 >BS 5D 3367 6:>B5<Q
6<3B X
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63 674 KE>B4V<6 @>B O 4 S<5KE>J4S 63 674 @3B6:3EE4:VW 73
@>B S4@<S4 63 D 3 S<8J <6 <B 674 5K>@4 38 @3B56:><B65
W 7<@7 @>B O 4 S<5K E>J4S >5 @3B45X Y9 @7 C:>K 7<@>E 633E5
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63:X \ 96 674B V W 74:4 <5 674 E<D <6 O46W 44B ><S<BC 633E5
>B S K:3O E4D 53EP4:5F ½ 7 4B <5 674 3K4:>63: B3 D 3:4
>O E4 63 O9<ES > 53E9 6<3B OJ 7<D 54E8 >BS :4EJ @3D KE464EJ
3B 67 4 <B83:D >6<3B K:3P<S4S OJ 674 5J564D F ½ 74B <5
674 3K 4:>63: 3ON4@6<P4EJ wu 3: x"r 674 S4@<5<3B E33K F
= 74 K 3<B6 <5 B36 63 5>J 67 >6 674 3K 4:>63: <5 56<EE <B 67 4
S4@<5<3B E33K O9 6 63 O 4 >OE4 63 P4:<8J 67 >6 74 <5 :4>EEJ
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= 74 D ><B @7>:>@64:<56<@ 38 67<5 >KK :3>@7 <5 <65 564K
OJ 564K W>J 38 4P3E96<3B X = 7<5 4P3E9 6<3B >:J D 467 3S <5
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64D X Õ B 674 3674: 7>BS W 4 D 9 56 @3B 5<S4: <65 W4>HB 455
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