Crèmes, shampooings, savons, gels douche, ces produits cosmétiques quotidiennement utilisés, ont en commun la présence d'une matière première essentielle à leur formulation, à savoir le tensioactif ou émulsionnant. Ces molécules sont donc fréquemment en contact avec la peau. En effet, de par sa structure amphiphile particulière, le tensioactif aide à la stabilisation des émulsions, permet la formation de mousse et apporte les propriétés détergentes des produits cosmétiques nettoyants, en solubilisant les corps gras présents en surface. Ces molécules peuvent également interagir avec les composants de la peau. Une des premières preuves évidentes de l'interaction des tensioactifs avec la peau est l'observation des signes cliniques suite à l'exposition prolongée ou chronique à des formules riches en tensioactifs. Ces molécules sont maintenant connues pour engendrer des dermatites de contact d'irritation et font l'objet d'un véritable problème de santé publique concernant les maladies professionnelles aux détergents. Cependant, devant la multitude de tensioactifs présents sur le marché, les mécanismes d'action des tensioactifs sur la peau sont encore mal connus, surtout pour les tensioactifs non ioniques, très utilisés dans les produits de soin et souvent considérés comme non toxiques. Le sodium lauryl sulfate, tensioactif anionique reste à ce jour, la molécule modèle couramment étudiée. La toxicité cutanée est le plus souvent reliée à l'interaction du tensioactif avec les protéines, molécules chargées. De ce fait, les tensioactifs ioniques sont considérés comme étant les plus toxiques pour la peau. De plus, la forme monomérique du tensioactif est décrite comme l'entité responsable de la toxicité cutanée, s'insérant plus facilement dans la bicouche lipidique et pouvant ainsi pénétrer plus facilement dans la peau que sous la forme de micelles. La toxicité du tensioactif est donc également reliée à sa concentration micellaire critique. L'objectif de ce projet de recherche était d'approfondir les connaissances sur différentes propriétés physicochimiques de nombreuses classes de tensioactifs, afin de mieux comprendre leurs interactions ainsi que leurs effets sur la peau. Plusieurs niveaux d'études ont été développés. Après une analyse physicochimique des tensioactifs détaillée, des mesures in vitro ont permis d'évaluer l'effet du tensioactif sur la toxicité cutanée. L'étude portant sur la fonction barrière de la peau (propriétés de surface/détergence, organisation de la matrice lipidique et évaluation de l'extraction lipidique) a été menée via des expérimentations ex vivo. Nos études ont montré une toxicité notable de certains tensioactifs non ioniques et a contrario certains tensioactifs ioniques se sont révélés parfaitement bien tolérés. Les paramètres soulignés dans la littérature tels que la CMC et la charge des tensioactifs ont été remis en question. Plusieurs explications ont été mises en avant considérant l'organisation du tensioactif dans l'eau et son comportement vis-a-vis de la fonction barrière cutanée apportant ainsi de nouvelles pistes pour une meilleure compréhension de l'effet du tensioactif sur la peau. De plus La toxicité des tensioactifs a pu être reliée à un des trois niveaux de perturbation de la barrière cutanée: la désorganisation de la matrice lipidique / Creams, shampoos, soaps, shower gels, these cosmetics daily used, have in common the presence of a raw material essential to their formulation, namely the surfactant or emulsifier. These molecules are therefore frequently in contact with the skin. Indeed, because of its particular amphiphilic structure, the surfactant helps the stabilization of emulsions, allows the formation of foam and provides the detergent properties of cleansing cosmetic products, by solubilizing the fatty substances present on the surface. These molecules can also interact with the components of the skin. One of the first obvious evidence of the interaction of surfactants with the skin is the observation of clinical signs following prolonged or chronic exposure to surfactant-rich formulas. These molecules are now known to cause irritant contact dermatitis and are the subject of a real public health problem regarding professional detergent diseases. However, considering the multitude of surfactants on the market, the mechanisms of action of surfactants on the skin are still poorly known, especially for nonionic surfactants, widely used in skincare products and often considered non-toxic. Sodium lauryl sulfate, anionic surfactant remains to this day, the model molecule currently studied. The cutaneous toxicity is most often related to the interaction of the surfactant with the proteins, charged molecules. As a result, ionic surfactants are considered to be the most toxic to the skin. In addition, the monomeric form of the surfactant is described as the entity responsible for cutaneous toxicity, fitting more easily into the lipid bilayer and thus able to penetrate the skin more easily than in the form of micelles. The toxicity of the surfactant is therefore also related to its critical micelle concentration. . The objective of this research project was to expand knowledge on different physicochemical properties of many classes of surfactants, to better understand their interactions and their effects on the skin. Several levels of studies have been developed. After detailed physicochemical analysis of the surfactants, in vitro measurements were used to evaluate the effect of the surfactant on skin toxicity. The study on the skin barrier function (surface properties / detergency, lipid matrix organization and evaluation of lipid extraction) was conducted via ex vivo experiments. Our studies have shown significant toxicity of some nonionic surfactants and conversely some ionic surfactants have been found to be perfectly well tolerated. Parameters highlighted in the literature such as CMC and surfactant charges have been questioned. Several explanations were put forward considering the organization of the surfactant in the water and its behavior on the skin barrier function thus bringing new tracks for a better understanding of the effect of the surfactant on the skin. In addition, the toxicity of the surfactants could be related to one of the three levels of disruption of the cutaneous barrier: the disorganization of the lipid matrix

The use of unmanned aerial vehicles (UAV), so-called drones, has been growingrapidly in the last decade. Today, they are used for, among other things, monitoring missions and inspections of places that are difficult for people to access. Toefficiently and robustly execute these types of missions, a swarm of drones maybe used, i.e., a collection of drones that coordinate together. However, this introduces new requirements on what solutions are used for control and navigation. Two important aspects of autonomous navigation of drone swarms are formationcontrol and collision avoidance. To manage these problems, we propose four different solution algorithms. Two of them use leader-follower control to keep formation, Artificial PotentialField (APF) for path planning and Control Barrier Function (CBF)/ExponentialControl Barrier Function (ECBF) to guarantee that the control signal is safe i.e.the drones keep the desired safety distance. The other two solutions use an optimal control problem formulation of a motion planning problem to either generate open-loop or closed-loop trajectories with a linear quadratic regulator (LQR)controller for trajectory following. The trajectories are optimized in terms of timeand formation keeping. Two different controllers are used in the solutions. Oneof which uses cascade PID control, and the other uses a combination of cascadePID control and LQR control. As a way to test our solutions, a scenario is created that can show the utilityof the presented algorithms. The scenario consists of two drone swarms that willtake on different missions executed in the same environment, where the droneswarms will be on a direct collision course with each other. The implementedsolutions should keep the desired formation while smoothly avoiding collisionsand deadlocks. The tests are conducted on real UAVs, using the open sourceflying development platform Crazyflie 2.1 from Bitcraze AB. The resulting trajectories are evaluated in terms of time, path length, formation error, smoothnessand safety.  The obtained results show that generating trajectories from an optimal control problem is superior compared to using APF+leader-follower+CBF/ECBF. However, one major advantage of the last-mentioned algorithms is that decision making is done at every time step making these solutions more robust to disturbancesand changes in the environment.

In this thesis, we consider the motion planning problem for an autonomous vehicle in an obstacle-cluttered environment approximated by zonotopes, and we propose an input sampling algorithm leveraging discrete-time control barrier function conditions (DCBF). Specifically, an optimization-based control barrier function that takes into account the geometric shapes of the vehicle and obstacles is constructed and verified. We then propose a discrete-time CBF that guarantees the safety during the inter-sampling intervals. It is worth noting that we do not need an explicit expression of the barrier function, but instead, an numerically efficient algorithm is proposed to evaluate and implement the CBF/DCBF conditions. Finally, an RRT algorithm is incorporated that draws the input sampling from the input space restricted to DCBF condition. Thanks to our proposed DCBF and input sampling method approach, our proposed method is less conservative, computationally efficient and guarantees the safety during the sampling intervals. Numerical simulation with unicycle model has been done to demonstrate the favorable properties of the algorithm. / I det här dokumentet tar vi upp problemet med rörelseplanering för ett autonomt fordon i en hinderfylld miljö som approximeras av zonotoper och föreslår en algoritm för insatsprovtagning som utnyttjar diskreta villkor för kontrollbarriärfunktioner (DCBF). Vi konstruerar och verifierar en optimeringsbaserad kontrollbarriärfunktion som tar hänsyn till fordonets och hindrens geometriska former. Vi föreslår sedan en diskret CBF i diskret tid som garanterar säkerheten under intervallerna mellan provtagningarna. Det är värt att notera att vi inte behöver ett explicit uttryck för barriärfunktionen, utan istället föreslås en numeriskt effektiv algoritm för att utvärdera och genomföra CBF/DCBF-villkoren. Slutligen införlivas en RRT-algoritm som drar inmatningsprovtagningen från inmatningsutrymmet som är begränsat till DCBF-villkoret. Tack vare vår föreslagna metod för DCBF och insatsprovtagning är vår föreslagna metod mindre konservativ, beräkningsmässigt effektiv och garanterar säkerheten under provtagningsintervallerna. Numerisk simulering med encykelmodell har gjorts för att verifiera algoritmen.

These days, a wide range of autonomous systems, such as automobiles, delivery drones, and embedded household systems, are becoming more and more common in our society. This trend is projected to continue in the future. To effectively manage these dynamic systems, ensuring their safe operation is crucial for the well-being of our lives. Control of safety-critical systems has gained significant attention in recent years, particularly in the field of nonlinear control. While the mathematical tools for characterizing safety are well-established, there are still numerous challenges to be addressed when it comes to developing methodologies for synthesizing nonlinear control systems. This report investigates the similarity between the two control schemes, the prescribed performance control and control barrier function. Its purpose is to shed light on the development of control methodology in safetycritical systems. While both methods have been successfully constructed and developed recently, there is no existing report that clarifies their similarities. To gain a deeper understanding of the latest safety-critical control and investigate these similarities, this report aims to provide interesting insights and contribute to the further development of methodology. The key insight arises from the fact that the prescribed performance control can be considered a method based on barrier functions. Consequently, it can be regarded as a control barrier-based controller. In order to demonstrate the similarities and make a comparison between the two, a unified problem setting is presented. Once we have properly converted the problem, we can proceed with a comparison using numerical simulations. The results presented in this report demonstrate that the prescribed performance controller can be implemented using separate reciprocal CBF methods. Furthermore, it shows that the performance achieved is comparable to that of the CLF-CBF QP, which utilizes optimization techniques to ensure stability and safety requirements. These findings raise new questions regarding the relationship between these two approaches. Ultimately, the report delves into a deeper understanding of how model-free methods achieve superior performance compared to model-based methods that heavily rely on optimization. / Idag blir ett brett spektrum av autonoma system, som bilar, leveransdrönare och inbyggda hushållssystem, allt vanligare i vårt samhälle. Denna trend förväntas fortsätta i framtiden. För att effektivt hantera dessa dynamiska system är det avgörande att säkerställa att de fungerar på ett säkert sätt. Styrning av säkerhetskritiska system har fått stor uppmärksamhet under de senaste åren, särskilt inom området icke-linjär styrning. Även om de matematiska verktygen för att karakterisera säkerhet är väletablerade, finns det fortfarande många utmaningar att ta itu med när det gäller att utveckla metoder för att syntetisera olinjära styrsystem. Denna rapport undersöker likheten mellan de två kontrollsystemen, den föreskrivna prestandakontrollen och kontrollbarriärfunktionen. Syftet är att belysa utvecklingen av styrmetodik i säkerhetskritiska system. Även om båda metoderna har konstruerats och utvecklats framgångsrikt på senare tid, finns det ingen befintlig rapport som klargör deras likheter. För att få en djupare förståelse för den senaste säkerhetskritiska kontrollen och undersöka dessa likheter, syftar denna rapport till att ge intressanta insikter och bidra till den fortsatta utvecklingen av metodiken. Den viktigaste insikten härrör från det faktum att den föreskrivna prestandakontrollen kan betraktas som en metod baserad på barriärfunktioner. Följaktligen kan den betraktas som en styrbarriärbaserad styrenhet. För att visa på likheterna och göra en jämförelse mellan de två presenteras en enhetlig problemställning. När vi har omvandlat problemet på rätt sätt kan vi gå vidare med en jämförelse med hjälp av numeriska simuleringar. De resultat som presenteras i denna rapport visar att den föreskrivna prestandaregulatorn kan implementeras med separata reciproka CBF-metoder. Dessutom visar de att den uppnådda prestandan är jämförbar med den för CLFCBF QP, som använder optimeringstekniker för att säkerställa stabilitets- och säkerhetskrav. Dessa resultat väcker nya frågor om förhållandet mellan dessa två metoder. I slutändan ger rapporten en djupare förståelse för hur modellfria metoder uppnår överlägsen prestanda jämfört med modellbaserade metoder som i hög grad förlitar sig på optimering.

Autonomous robots have the potential to accomplisha wide variety of assignments. For this to work in reality, therobots need to be able to perform specific tasks while safety forboth them and their environment is ensured. Signal temporallogic (STL) was used to define timed tasks for the agents toperform and control barrier functions (CBFs) were used to designa controller for their movements. In this paper, a set of STL taskswere considered, which two robots were instructed to satisfy in asimulation of a warehouse environment. The two agents startednext to each other, then the set of tasks instructed them to move totwo separate areas, then meet up again and move in a formationback towards their starting area. Control barrier functions wereemployed to ensure the satisfaction of the set of STL tasks.The agents designed their actions towards satisfying the giventasks without considering a safety distance to the other robot atfirst. To later ensure safety, a collision avoidance mechanism wasintroduced. The scenario without collision avoidance proved moreeffective paths for the agents. They moved to satisfy the tasks withless disturbance than the scenario where collision avoidance wasconsidered. However, the scenario with the collision avoidancemechanism proved successful and the agents satisfied their taskswithout colliding with each other. / Autonoma robotar har potential att utföra en stor mängd olika uppgifter. För att detta ska fungera i verkligheten, behöver robotarna kunna genomföra specifika uppgifter medans både deras egen och omgivningens säkerhet är säkerställd. Signal temporal logic (STL) användes för att definiera tidsinställda uppgifter åt robotarna att utföra och control barrier functions (CBFs) användes för att designa en controller för deras rörelser. I den här rapporten betraktades en uppsättning av STL-uppgifter, vilka två robotar instruerades att uppfylla i en simulering av en lagermiljö. De två robotarna startade bredvid varandra, sen instruerade STL-uppgifterna dem att röra sig till två separata områden, sen mötas upp igen och röra sig i formation tillbaka mot sitt startområde. Control barrier functions användes för att garantera uppfyllandet av STL-uppgifterna. Robotarna anpassade sina rörelser till att uppfylla de givna uppgifterna, först utan hänsyn till någon säkerhetsmarginal till den andra roboten. För att senare garantera säkerhet introducerades en extra mekanism för att undvika kollision. Scenariot utan att undvika kollision visade på effektivare rörelsebanor hos robotarna. De rörde sig mot att uppfylla uppgifterna med färre störningar än scenariot då kollision aktivt undveks. Scenariot med mekanismen för att dock framgångsrikt och robotarna e sina uppgifter utan att kollidera med varandra. / Kandidatexjobb i elektroteknik 2021, KTH, Stockholm

Docking maneuvers are a relevant part of the modern space mission, requiring precision and safety to ensure the success of the overall mission. This thesis proposes using a non-linear Model Predictive Control (MPC) as a controller with various constraints to ensure safe docking maneuvers for a satellite. This was done in MATLAB using as a model for the satellite the Sliders used by the Robotics Lab at Luleå University of Technology (LTU). The controller was tested first on the MATLAB model and then briefly on hardware.The main objective of this thesis is to develop and implement an MPC-based control strategy to achieve safe docking maneuvers between two satellites. Great attention has been paid to implementing constraints, such as collision avoidance, and hardware constraints, such as thrust limits, to ensure the safety and reliability of the process.Through the MATLAB simulations, it was possible to indicate that the introduced constraints contribute significantly to the safe execution of docking maneuvers, preventing collisions, andoptimizing fuel usage. The controller successfully adapts to unforeseen disturbances and uncertainties in real-time, showcasing its robustness and reliability in dynamic space environments.The hardware simulations have shown that the controller operates as expected but needs further tuning to adapt to the hardware uncertainties.In conclusion, this thesis comprehensively explores MPC-based control strategies with constraints for space docking maneuvers. The positive results underscore this approach’s potential to ensure the safety and reliability of future space missions, opening avenues for further research and application in autonomous space systems.

Submitted by Rafael Ramos de Souza null (rr.souza@live.com) on 2016-08-09T15:45:13Z No. of bitstreams: 1 VERSÃO_ENTREGUE.pdf: 1452852 bytes, checksum: ae6aa21d2282113ac3abaade8414218e (MD5) / Approved for entry into archive by Ana Paula Grisoto (grisotoana@reitoria.unesp.br) on 2016-08-11T12:16:39Z (GMT) No. of bitstreams: 1 souza_rr_me_bauru.pdf: 1452852 bytes, checksum: ae6aa21d2282113ac3abaade8414218e (MD5) / Made available in DSpace on 2016-08-11T12:16:39Z (GMT). No. of bitstreams: 1 souza_rr_me_bauru.pdf: 1452852 bytes, checksum: ae6aa21d2282113ac3abaade8414218e (MD5) Previous issue date: 2016-06-10 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O problema de Fluxo de Potência Ótimo tem por objetivo a otimização de um critério de desempenho elétrico sujeito ao atendimento das demandas de potência ativa e reativa em cada barra e de restrições técnico-operacionais dos sistemas de geração e transmissão. É um problema de otimização, não-linear, não-convexo e de grande porte. Neste trabalho é explorado o problema de Fluxo de Potência Ótimo Reativo com o objetivo de minimizar as perdas de potência ativa na transmissão e para resolvê-lo é proposto um método primal-dual de pontos interiores/exteriores barreira logarítmica modificada com estratégias de teste quadrático e determinação de direções de busca combinadas. O teste quadrático é proposto como alternativa ao procedimento de Cholesky na verificação da positividade da matriz hessiana do problema, que, se definida positiva, garante direções de descida para o método. As novas direções de busca são determinadas através de combinações das direções dos procedimentos previsor e corretor, determinadas através da análise das condições de complementaridade das variáveis primais e duais do problema. O método proposto foi implementado em Matlab e aplicado aos sistemas elétricos 9 e 39 barras e aos sistemas IEEE 14, 30, 57 e 118 barras. O desempenho do método com as estratégias propostas é avaliado em termos do número de iterações e do tempo computacional. Os resultados são promissores e permitem a aplicação do presente método, com as estratégias propostas, para resolver o problema de Fluxo de Potência Ótimo Reativo com maior dimensão do que os sistemas testados. / The reactive optimal power flow problem is concerned with the optimization of a specific criterion associated with the transmission system while enforcing the power balance in each transmission bus, as well as operational and physical constraints associated with generation and transmission systems. It is a nonlinear, non-convex and large optimization problem. In this work we consider the active losses minimization in the transmission system as a criterion for the optimal power flow problem. The solution of the problem is investigated by proposing a modified log-barrier primal-dual interior/exterior point method with a quadratic test strategy and new search direction procedures. The quadratic test is proposed as an alternative strategy to the Cholesky procedure for calculating the positivity of the Hessian matrix of the problem.The new search directions investigated in the paper are determined by combining the search directions calculated in the predictor and corrector steps, respectively, and also by using information associated with the complementarity conditions. The method proposed is implemented in Matlab and applied to solving the reactive optimal power flow problem for 9 and 39-bus systems, as well as for the IEEE 14, 30, 57 and 118-bus test systems. The performance of the method with the proposed strategies for search directions is evaluated in terms of the number of iterations and computational times. The results are promising and allow the application of the present method with the proposed search strategies for solving problems of larger dimensions.

This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. The main problem is how to keep all adjacent agents maintain within the communication distance during the formation process. In this thesis, Control Barrier Functions (CBFs) are utilized in order to maintain connectivity among the neighboring agents. This thesis firstly introduces a general first-order leader-follower multi-agent systems with proper connectivity constrains. All edges in the system are divided into three categories: follower-follower edges, leader-follower edges and leader-leader edges. Three different kinds of edges are discussed individually. For each category, the relevant topological conditions and control barrier functions are defined and proved for both tree graphs and general graphs. Several simulation examples are implemented to verify the developed results. Both theory and simulation results show that the developed results are a strong support for the formation control of leader-follower system in order to achieve connectivity maintenance. / Denna avhandling studerar formationskontroll för en klass av generella ledare-följare multi-agent-system med kontrollbarriärfunktioner (CBFs) så att anslutningsunderhållet uppfylls för alla angränsande agenter. I ledar-följare multi-agent-system är det bara ledaragenterna som styrs av den externt utformade ingången, medan följaren guidas genom sina dynamiska kopplingar med grannagenterna. Huvudproblemet är hur man kan hålla alla intilliggande agenter inom kommunikationsavståndet under bildningsprocessen. I det här examensarbetet används kontrollbarriärfunktioner (CBF) för att upprätthålla förbindelser mellan angränsande agenter. Detta examensarbete introducerar först ett allmänt första ordningens ledare-följare multi-agentsystem med korrekta anslutningsbegränsningar. Alla kanter i systemet är indelade i tre kategorier: efterföljarkanter, ledare-följarkanter och ledare-ledarkanter. Tre olika sorters kanter diskuteras individuellt. För varje kategori definieras och bevisas de relevanta topologiska förhållandena och kontrollbarriärfunktionerna för både trädgrafer och allmänna grafer. Flera simuleringsexempel implementeras för att verifiera de framtagna resultaten. Både teori- och simuleringsresultat visar att de utvecklade resultaten är ett starkt stöd för bildandet av ledare-följare-system för att uppnå anslutningsunderhåll

Autonomous Driving Systems (ADS), a subcategory of Cyber-Physical Systems (CPS) are becoming increasingly popular with ubiquitous deployment. They provide advanced operational functions for perception and control, but this also raises the question of their safety capability. Such questions include if the vehicle can stay within its lane, keep a safe distance from the leading vehicle, or avoid obstacles, especially under the presence of uncertainties. In this master thesis, the operational safety of ADS will be addressed, more specifically on the Adaptive Cruise Control (ACC) system by modeling an optimal control problem based on Control Barrier Function (CBF) unified with Model Predictive Control (MPC). The corresponding optimal control problem is robust against measurement uncertainties for an Autonomous Vehicle (AV) driving on a highway, where the measurement uncertainties will represent the common faults in the perception system of the AV. A Kalman Filter (KF) is also added to the system to investigate the performance difference. The resulting framework is implemented and evaluated on a simulation scenario created in the open-source autonomous driving simulator CARLA. Simulations show that MPC-CBF is indeed robust against measurement uncertainties for well-selected horizon and slack variable values. The simulations also show that adding a KF improves the overall performance. The higher the horizon, the more confident the system becomes as the distance to the leading vehicle decreases. However, this may cause infeasibility where there are no solutions to the optimal control problem during sudden braking as the AV cannot brake fast enough before it crashes. Meanwhile, the smaller the slack variable, the more restrictive becomes CBF where it impacts more on the control input than desired which could also cause infeasibility. The results of this thesis will help to facilitate safety-critical CPS development to be deployed in real-world applications. / Autonoma körsystem (ADS), som är en del av cyberfysiska system (CPS), har blivit alltmer populär med allestädes närvarande användning. Det bidra med avancerade operativa funktioner för perception och styrning, men samtidig väcker detta också frågan om dess säkerhetsförmåga. Sådana frågor inkluderar om fordonet kan hålla sig inom sitt körfält, om det kan hålla ett säkert avstånd till det ledande fordonet eller om det kan undvika hinder, speciellt under osäkerheter hos systemet. I detta examensarbete kommer driftsäkerheten hos ADS att behandlas, mer specifik på adaptiv farthållare (ACC) genom att modellera ett optimalt kontrollproblem baserat på kontrollbarriärfunktion (CBF) förenat med modellförutsägande styrning (MPC). Motsvarande optimalt kontrollproblem är robust mot mätosäkerheter för ett autonomt fordon som kör på en motorväg, där mätosäkerheterna representerar vanliga fel i AV:s perceptionssystem. Ett Kalmanfilter (KF) läggs också till i systemet för att undersöka skillnaden i prestanda. Det resulterande ramverket implementeras och utvärderas på ett simuleringsscenario som skapats i den öppna källkodssimulatorn för autonom körning CARLA. Simulationer visar att MPC-CBF är robust mot mätosäkerheter för väl valda värden för horisont och slackvariabler. Det visar också att systemets prestanda förbättrats ännu mer om ett KF läggs till. Ju större horisont, desto mer självsäkert blir systemet när avståndet till det ledande fordonet minskar. Detta kan dock leda till att det inte finns några lösningar på det optimala kontrollproblemet vid plötslig inbromsning, eftersom fordonet inte hinner bromsa tillräckligt snabbt innan det kraschar. Ju mindre slackvariabeln är, desto mer restriktiv blir CBF som påverkar styrningen mer än vad som är önskvärt vilket också kan leda till olösbart optimalt kontrollproblem. Resultatet från detta examensarbete bär syftet att gynna utvecklingen av säkerhetkritisk CPS som ska användas i praktiska tillämpningar.

La peau est l’organe le plus étendu du corps humain. Doté d’une membrane biologique fine appelée la couche cornée, celle-ci le protège du desséchement et des agressions extérieures chimiques ou mécaniques auxquelles le corps humain doit faire face. Ce travail de thèse a consisté, dans un premier temps, à décrire via la littérature existante les effets de l’âge,dûs au vieillissement intrinsèque et extrinsèque,sur la physiologie cutanée du Stratum Corneum (SC).La partie expérimentale basée sur la microscopie vibrationnelle traitera des variations de la fonction barrière et de l’hydratation du SC lors du vieillissement chronologique et photo-vieillissement. D’autres méthodes ont également été utilisées comme la chromatographie liquide en phase normale couplée à la spectrométrie de masse haute résolution dotée d’une source APCI et d’un détecteur Orbitrap pour l’étude de la composition détaillée des lipides du SC ainsi que des méthodes plus globales comme la PIE ou la cornéométrie. Le caractère non invasif de toutes ces méthodes a permis de réaliser ces études in vivo. L’évolution de la fonction barrière a été étudiée aux niveaux tissulaire, moléculaire et supramoléculaire par micro-spectroscopie confocale Raman et spectroscopie Infrarouge. Puis le lien moléculaire a été fait entre le vieillissement intrinsèque et les céramides de la matrice lipidique intercornéocytaires par chromatographie en phase liquide couplée à la spectrométrie de masse. Les molécules discriminantes entre population jeune et âgée ont été déterminées par analyse chimiométrique. L’évolution de l’hydratation cutanée aux niveaux tissulaire, moléculaire et supramoléculaire a également été l’objet d’une investigation approfondie. Les variations de la composition des NMF et la teneur en eau dans le SC lors du vieillissement cutané ont été mises en lumière en utilisant des descripteurs spectraux Raman. Les variations structurelles des molécules d’eau impactant l’organisation supramoléculaire des édifices lipidiques ont également été évaluées. Au cours du vieillissement, la fonction barrière cutanée et hydratation sont conservées. / Skin is the external surface defining the human body in space. Its outer-most layer is a thin biological membrane, called Stratum Corneum(SC), that protects the internal organs from desiccation as well as chemical or mechanical external aggressions. The present thesis aimsin a first step, to summarize the current knowledge regarding the effects of intrinsic and extrinsic aging on SCphysiology,based on available literature. The experimental part addresses the gaps in our understanding of the effects of chronological aging and photoaging on the SC barrier function and hydration, using traditional methods (such as trans epidermal water loss and skin conductance) as well as more advanced ones (vibrational spectroscopies, liquid chromatography in normal phase tandem mass spectrometry high resolution with an APCI source and an Orbitrap detector. As these methods are non-invasive, all studies have been carried out in vivo. The evolution of the barrier function has been studied at the tissular, molecular and supramolecular levels using confocal Raman micro-spectroscopy and infrared spectroscopy. Then the link between the intrinsic aging and the ceramides of the intercorneocytary lipid matrix has been studied by liquid chromatography tandem mass spectrometry. The discriminant molecules between young and old population have been identified by a chemometric analysis. The evolution of cutaneous hydration at the tissular, molecular and supramolecular level has also been investigated. The variations in the NMF composition and the SC water content have been studied by Raman spectral descriptors. Moreover, the structural variations of water molecules impacting the supramolecular organization of the lipid structures have been evaluated. Chronological aging and chronic exposure to environmental factors mildly affect SC barrier function and hydration levels. However, the processes controlling these properties are affected by aging in a site-dependent fashion.