Abstract
The scientific potential of the ELT will rely on the performance of its AO systems that will require to be perfectly calibrated before and during the operations. The actual design of the ELT will provide a constraining environment for the calibration and new strategies have to be developed to overcome these constraints. This will be particularly true concerning the Interaction Matrix of the system with no calibration source upward M4 and moving elements in the telescope. After a brief presentation of the ELT specificities for the calibration, this communication focuses on the different strategies that have already been developed to get/measure the Interaction Matrix of the system, either based on synthetic models or using on-sky measurements. First tests of these methods have been done using numerical simulations for a simple AO system and a proposition for a calibration strategy of the ELT will be presented.

Abstract
The Pyramid wave-front sensor (WFS) is currently the baseline for several future adaptive optics (AO) systems, including the First light systems planned for the era of Extremely Large Telescopes (ELTs). Extensive investiga-tion into the Pyramid WFS aim to prepare for this new generation of AO systems, characterizing its behavior under realistic conditions and developing experimental procedures to optimise performance. An AO bench at Laboratoire d'Astrophysique de Marseille has been developed to analyze the behavior of the Pyramid and develop the necessary operational and calibration routines to optimize performance. The test bench comprises a Pyramid WFS, an ALPAO 9-9 deformable mirror (DM), a rotating phase screen to simulate atmospheric turbulence and imaging camera. The Pyramid WFS utilizes the low noise OCAM2 camera to image the four pupils and real time control is realized using the adaptive optics simulation software OOMAO (Object Oriented Matlab Adaptive Optics toolbox).1 Here we present the latest experimental results from the Pyramid test bench, including comparison with current Pyramid models and AO simulations. We focus on the calibration of the AO system and testing the impact of non-linear effects on the performance of the Pyramid. The results demonstrate good agreement with our current models, in particular with the addition of more realistic elements: non-common path aberrations and the optical quality of the Pyramid prism.

Abstract
In nights at Cerro Paranal where good seeing and low wind conditions are present, the PSF delivered to the focal plane of the SPHERE instrument has been shown to have significant errors, and have been aptly described as the Low Wind Effect' (LWE). We demonstrate here a method to quantify the LWE using experimental and on-sky data. We find single image phase diversity is a useful tool in quantifying the LWE and can be used to monitor this effect over the course of the night.

Abstract
Minimum-variance control of adaptive optics (AO) systems relies on a stochastic dynamical model of the per-turbation and on models of the components, including loop delays. Resulting LQG controllers have been imple-mented in SCAO and WFAO both on laboratory benches and on-sky. Their efficiency has been recognized in several modes of operation, e.g. I) on-sky control of TT or low-order modes with vibration mitigation (SPHERE, GPI, CANARY, Raven, GeMS, in H2 formulation at the McMath-Pierce solar telescope) ii) full SCAO mode (CANARY) and MOAO mode (CANARY, Raven) and iv) in general it is advocated to control the low-order modes in laser tomography systems (E-ELT HARMONI LTAO, NFIRAOS). We first point out two examples related to VLT AO controllers to illustrate the need for RTC exibility. The implementation of LQG control in the framework of the future ELTs raises many questions related both to real-time control computation and associated parameter updates (at a far lower rate), and to the performance that can be reached compared with simpler control strategies. By gathering many lab and on-sky results, we draw the performance trends observed so far. We then outline some promising research directions for control design and implementations for future ELTs AO systems.

Abstract
The secondary mirror unit of the European Extremely Large Telescope (ELT) is supported by six 50-cm wide spiders, providing the necessary stiffness to the structure while minimising the obstruction of the beam. The deformable quaternary mirror (M4) contains over 5000 actuators on a nearly hexagonal pattern. The reflective surface of M4 itself is composed of a segmented thin shell made of 6 discontinuous petals. This segmentation of the telescope pupil will create areas of phase isolated by the width of the spiders on the wavefront sensor (WFS) detector, breaking the spatial continuity of the wavefront data. The poor sensitivity of the Pyramid WFS (PWFS) to differential piston (or of any WFS sensitive to the derivative of the wavefront such as the Shack-Hartmann) will lead to badly seen and therefore uncontrollable differential pistons between these areas. In close loop operation, differential pistons between segments will settle around integer values of the average sensing wavelength lambda. The differential pistons typically range from one to tens of time the sensing wavelength and vary rapidly over time, leading to extremely poor performance. In addition, aberrations created by atmospheric turbulence will naturally contain some differential piston between the segments. This differential piston is typically a relatively large multiple of the sensing wavelength, especially for 40 m class telescopes. Trying to directly remove the entire piston contribution over each of the DM segments will undoubtedly lead to poor performance. In an attempt to reduce the impact of unwanted differential pistons that are injected by the AO correction, we compare three different approaches. A first step is to try to limit ourselves to use only the information measured by the PWFS, in particular by reducing the modulation. We show that using this information sensibly is important but it is only a prerequisite and will not be sufficient. We discuss possible ways of improvement by removing the unwanted differential pistons from the DM commands while still trying to maintain the atmospheric segment-piston contribution by using prior information. A second approach is based on phase closure of the DM commands and assumes the continuity of the correction wavefront over the entire unsegmented pupil. The last approach is based on the pair-wise slaving of edge actuators and shows the best results. We compare the performance of these methods using realistic end-to-end simulations. We find that pair-wise slaving leads to a small increase of the total wavefront error, only adding between 20-45 nm RMS in quadrature for seeing conditions between 0.45"-0.85". Finally, we discuss the possibility of combining the different proposed solutions to increase robustness.

Abstract
Context. Canary is the multi-object adaptive optics (MOAO) on-sky pathfinder developed in the perspective of multi-object spectrograph on extremely large telescopes (ELTs). In 2013, Canary was operated on-sky at the William Herschel telescope (WHT), using three off-axis natural guide stars (NGS) and four off-axis Rayleigh laser guide stars (LGS), in open-loop, with the on-axis compensated turbulence observed with a H-band imaging camera and a Truth wave-front sensor (TS) for diagnostic purposes. Aims. Our purpose is to establish a reliable and accurate wave-front error breakdown for LGS MOAO. This will enable a comprehensive analysis of Canary on-sky results and provide tools for validating simulations of MOAO systems for ELTs. Methods. To evaluate the MOAO performance, we compared the Canary on-sky results running in MOAO, in single conjugated adaptive optics (SCAO) and in ground layer adaptive optics (GLAO) modes, over a large set of data acquired in 2013. We provide a statistical study of the seeing. We also evaluated the wave-front error breakdown from both analytic computations, one based on a MOAO system modelling and the other on the measurements from the Canary TS. We have focussed especially on the tomographic error and we detail its vertical error decomposition. Results. We show that Canary obtained 30.1%, 21.4% and 17.1% H-band Strehl ratios in SCAO, MOAO and GLAO respectively, for median seeing conditions with 0.66? of total seeing including 0.59? at the ground. Moreover, we get 99% of correlation over 4500 samples, for any AO modes, between two analytic computations of residual phase variance. Based on these variances, we obtain a reasonable Strehl-ratio (SR) estimation when compared to the measured IR image SR. We evaluate the gain in compensation for the altitude turbulence brought by MOAO when compared to GLAO.