Spectral domain optical coherence tomography (SD-OCT) is a dispersed interferometric technology used to obtain tomographic images, typically of tissue for medical applications. OCT is a competing technology with confocal microscopy (CM) and confocal fluorescent microscopy (CFM), which are both used for biopsy imaging for pathology as the gold standard. OCT offers several advantages over CM/CFM: it is able to acquire a full 3D image in a single pass, it requires little or no sample preparation time, and the axial (depth) and lateral (transverse) resolution are not dependent on one another. SD-OCT is limited in imaging depth to a few millimetres due to the quality performance of the spectrograph section of the instrument--that which determines the sensitivity of the SD-OCT system. In this thesis a design for an SD-OCT system is presented that is suitable for biopsy imaging for pathological studies, i.e. an OCT microscope. The purpose of this system is to provide a fast diagnosis to be made in a surgical environment to reduce the amount of tissue removed from a patient and lower the chance of a returned visit at a later date due to insufficient tissue removal. The secondary purpose of the SD-OCT microscope is to serve as a research testbed system for implementing novel hardware advancements. One such technology, called an optical pupil slicer (OPS), will be implemented in the instrument to improve the depth imaging performance of the SD-OCT system over conventional SD-OCT systems. The OPS is a device that generally improves the performance of a dispersive-type spectrograph by increasing the spectral resolution without a loss in throughput, thereby increasing the sensitivity of the SD-OCT system.

Optical Coherence Tomography (OCT) is a relatively new interferometric technology that allows for high-resolution and non-destructive tomographic imaging. One of its primary current uses is for in vivo and ex vivo examination of medical samples. It is used for non-destructive examination of ocular disease, dermatological examination, blood vessel imaging, and many other applications. Some primary advantages of OCT imaging include rapid imaging of biological tissue with minimal sample preparation, 3D high-resolution imaging with depth penetrations of several millimeters, and the capability to obtain results in real time, allowing for fast and minimally invasive identification of many diseases. Current commercial OCT systems rely heavily on optical fiber-based designs. They depend on the robustness of the fiber to maintain system performance in variable environmental conditions but sacrifice the performance and flexibility of free-space optical designs. We discuss the design and implementation of a free-space OCT interferometer that can automatically maintain its alignment, allowing for the use of a free-space optical design outside of tightly controlled laboratory environments. In addition, we describe how similar enhancements can be made to other optical interferometric systems. By extending these techniques, we can provide similar improvements to many related fields, such as interferometric metrology and Fourier Transform Spectroscopy. Improvements in these technologies can help bring powerful interferometric tools to a wider audience.

A predictive, forward-dynamic model and computer simulation of human gait has important medical and research applications. Most human simulation work has focused on inverse dynamics studies to quantify bone on bone forces and muscle loads. Inverse dynamics is not predictive - it works backwards from experimentally measured motions in an effort to find the forces that caused the motion. In contrast, forward dynamics determines how a mechanism will move without the need for experimentation. Most of the forward dynamic gait simulations reported consider only one step, foot contact is not modeled, and balance controllers are not used. This thesis addresses a few of the shortcomings of current human gait simulations by contributing an experimentally validated foot contact model, a model-based stance controller, and an experimentally validated model of the relationship between foot placement location and balance. The goal of a predictive human gait simulation is to determine how a human would walk under a condition of interest, such as walking across a slippery floor, using a new lower limb prosthesis, or with reduced leg strength. To achieve this goal, often many different gaits are simulated and the one that is the most human-like is chosen as the prediction for how a person would move. Thus it is necessary to quantify how `human-like' a candidate gait is. Human walking is very efficient, and so, the metabolic efficiency of the candidate gait is most often used to measure the performance of a candidate gait. Muscles consume metabolic energy as a function of the tension they develop and the rate at which they are contracting. Muscle tension is developed, and contractions are made in an effort generate torques about joints in order to make them move. To predict human gait, it is necessary for the simulation to be able to walk in such a way that the simulated leg joints use similar joint torques and kinematics as a human leg does, all while balancing the body. The joint torques that the legs must develop to propel the body forward, and balance it, are heavily influenced by the ground reaction forces developed between the simulated foot and the ground. A predictive gait simulation must be able to control the model so that it can walk, and remain balanced while generating ground reaction force profiles that are similar to experimentally observed human ground reaction force profiles. Ground reaction forces are shaped by the way the foot interacts with the ground, making it very important to model the human foot accurately. Most continuous foot contact models present in the literature have been experimentally validated using pendulum impact methods that have since been shown to produce inaccurate results. The planar foot contact model developed as part of this research was validated in-vivo using conventional force plates and optical tracking markers. The experimental data was also highly useful for developing a computationally efficient foot model by identifying the dominant contact properties of a real foot (during walking), without the complexity of modelling the 26 bones, 33 joints, over 90 ligaments, and the network of muscles that are in a real foot. Both ground reaction forces and the balance of the model are heavily influenced by the way the stance limb is controlled. Anthropomorphic multibody models typically have a fragile sense of balance, and ground reaction force profiles that do not look similar to experimentally measured human ground reaction force profiles. In contrast, the simple point-mass spring-loaded-inverted-pendulum (SLIP) can be made to walk or run in a balanced manner with center-of-mass (COM) kinematics and ground reaction force profiles that could be mistaken for the equivalent human data. A stance limb controller is proposed that uses a planar SLIP to compute a reference trajectory for a planar anthropomorphic multibody gait model. The torso of the anthropomorphic model is made to track the computed trajectory of the SLIP using a control system. The aim of this partitioned approach to gait simulation is to endow the anthropomorphic model with the human-like gait of the simpler SLIP model. Although the SLIP model-based stance-controller allows an anthropomorphic gait model to walk in more human-like manner, it also inherits the short comings of the SLIP model. The SLIP can walk or run like a human, but only at a fixed velocity. It cannot initiate or terminate gait. Fall preventing movements, such as gait termination and compensatory stepping, are of particular relevance to kinesiologists and health care professionals. Kinesiologists have known for nearly a decade that humans restore their balance primarily by systematically altering their foot placement location. This thesis presents a human experimental validation of a planar foot placement algorithm that was originally designed to restore the balance of bipedal robots. A three-dimensional (3D) theoretical extension to the planar foot placement algorithm is also presented along with preliminary human experimental results. These models of foot placement can be used in the future to improve the capabilities of gait simulations by giving simple models human-like compensatory stepping abilities. The theoretical extension also provides some insight into how instability and balance performance can be quantified. The instability and balance performance measures have important applications for diagnosing and rehabilitating balance problems. Despite all of the progress that has been made, there is still much work to be done. Work needs to be continued to find methods that allow the anthropomorphic model to emulate the SLIP model more faithfully. Experimental work needs to be completed to realize the potential diagnostic and rehabilitation applications of the foot placement models. With continued effort, a predictive, balanced, multi-step gait simulation can be developed that will give researchers the time-saving capability of computerized hypothesis testing, and medical professionals improved diagnostic and rehabilitation methods.

Light delivery and sample handling systems are essential for any high performance imaging application. The custom design for two such devices with medical imaging applications are presented. The first device, a galvanometer-stage combination, is for general use optical coherence tomography and can be configured to scan over a large range of sample sizes and types. The second device, constructed in parallel, a rotation-linear stage combination, has been carefully designed for a specific imaging task: assessing tumour margins. The design of the two devices is driven by operational requirements and although requirements vary greatly from application to application, there are several common parameters that must be considered for every system. In this thesis, parameters like total scan time, scan resolution, sampling rate, and sample type flexibility are analysed and are some of the primary factors that influence the viability of a system for further development. This work's contribution to medical imaging research is the design of two light delivery systems and an analysis process that can be applied to future iterations of scan systems. The devices are shown to be flexible enough for use in test-bed systems, while providing the necessary functionality to meet the needs of medical histology and pathology. Controlling the light delivery and sample positioning of an imaging device adds important functionality to a scan system and is not a trivial task when high spatial-resolution scan spacing is required. The careful design of an imaging system to meet the unique requirements of the application enables better information and better resulting decision making. Advanced imagery provides new insights and perspectives to everyday scenes. It is these new perspectives that allow for re-evaluation and examination of problems with a fresh eye.

Several decades of physiology, imaging and psychophysics research on attention has generated an enormous amount of data describing myriad forms of attentional effects. A similar breadth of theoretical models have been proposed that attempt to explain these effects in varying amounts of detail. However, there remains a need for neurally detailed mechanistic models of attention that connect more directly with various kinds of experimental data -- behavioural, psychophysical, neurophysiological, and neuroanatomical -- and that provide experimentally testable predictions. Research has been conducted that aims to identify neurally consistent principles that underlie selective attentional processing in cortex. The research specifically focuses on describing the functional mechanisms of attentional routing in a large-scale hierarchical model, and demonstrating the biological plausibility of the model by presenting a spiking neuron implementation that can account for a variety of attentional effects. The thesis begins by discussing several significant physiological effects of attention, and prominent brain areas involved in selective attention, which provide strong constraints for developing a model of attentional processing in cortex. Several prominent models of attention are then discussed, from which a set of common limitations in existing models is assembled that need to be addressed by the proposed model. One central limitation is that, for many existing models, it remains to be demonstrated that their computations can be plausibly performed in spiking neurons. Further, few models address attentional effects for more than a single neuron or single cortical area. And finally, few are able to account for different forms of attentional modulation in a single detailed model. These and other limitations are addressed by the Attentional Routing Circuit (ARC) proposed in this thesis. The presentation of the ARC begins with the proposal of a high-level mathematical model for selective routing in the visual hierarchy. The mathematical model is used to demonstrate that the suggested mechanisms allow for scale- and position-invariant representations of attended stimuli to be formed, and provides a functional context for interpreting detailed physiological effects. To evaluate the model's biological plausibility, the Neural Engineering Framework (NEF) is used to implement the ARC as a detailed spiking neuron model. Simulation results are then presented which demonstrate that selective routing can be performed efficiently in spiking neurons in a way that is consistent with the mathematical model. The neural circuitry for computing and applying attentional control signals in the ARC is then mapped on to neural populations in specific cortical laminae using known anatomical interlaminar and interareal connections to support the plausibility of its cortical implementation. The model is then tested for its ability to account for several forms of attentional modulation that have been reported in neurophysiological experiments. Three experiments of attention in macaque are simulated using the ARC, and for each of these experiments, the model is shown to be quantitatively consistent with measured data. Specifically, a study by Womelsdorf et al. (2008) demonstrates that spatial shifts of attention result in a shifting and shrinking of receptive fields depending on the target's position. An experiment by Treue and Martinez-Trujllo (1999) reports that attentional shifts between receptive field stimuli produce a multiplicative scaling of responses, but do not affect the neural tuning sensitivity. Finally, a study by Lee and Maunsell (2010) demonstrates that attentional shifts result in a multiplicative scaling of neural contrast-response functions that is consistent with a response-gain effect. The model accounts for each of these experimentally observed attentional effects using a single mechanism for selectively processing attended stimuli. In conclusion, it is suggested that the ARC is distinguished from previous models by providing a unifying interpretation of attentional effects at the level of single cells, neural populations, cortical areas, and over the bulk of the visual hierarchy. As well, there are several advantages of the ARC over previous models, including: (1) scalability to larger implementations without affecting the model's principles; (2) a significant increase in biological plausibility; (3) the ability to account for experimental results at multiple levels of analysis; (4) a detailed description of the model's anatomical substrate; (5) the ability to perform selective routing while preserving biological detail; and (6) generating a variety of experimentally testable predictions.

This thesis develops methods to exploit static and dynamic instabilities in electrostatic MEMS to develop new MEMS devices, namely dynamically actuated micro switches and binary micro gas sensors. Models are developed for the devices under consideration where the structures are treated as elastic continua. The electrostatic force is treated as a nonlinear function of displacement derived under the assumption of parallel-plate theorem. The Galerkin method is used to discretize the distributed-parameter models, thus reducing the governing partial differential equations into sets of nonlinear ordinary-differential equations. The shooting method is used to numerically solve those equations to obtain the frequency-response curves of those devices and the Floquet theory is used to investigate their stability. To develop the dynamically actuated micro switches, we investigate the response of microswitches to a combination of DC and AC excitations. We find that dynamically actuated micro switches can realize significant energy savings, up to 60 %, over comparable switches traditionally actuated by pure DC voltage. We devise two dynamic actuation methods: a fixed-frequency method and a shifted-frequency method. While the fixed-frequency method is simpler to implement, the shifted-frequency method can minimize the switching time to the same order as that realized using traditional DC actuation. We also introduce a parameter identification technique to estimate the switch geometrical and material properties, namely thickness, modulus of elasticity, and residual stress. We also develop a new detection technique for micro mass sensors that does not require any readout electronics. We use this method to develop static and dynamic binary mass sensors. The sensors are composed of a cantilever beam connected to a rigid plate at its free end and electrostatically coupled to an electrode underneath it. Two versions of micro mass sensors are presented: static binary mass sensor and dynamic binary mass sensor. Sensitivity analysis shows that the sensitivity of our static mass sensor represents an upper bound for the sensitivity of comparable statically detected inertial mass sensors. It also shows that the dynamic binary mass sensors is three orders of magnitude more sensitive than the static binary mass sensor. We equip our mass sensor with a polymer detector, doped Polyaniline, to realize a formaldehyde vapor sensor and demonstrate its functionality experimentally. We find that while the static binary gas sensor is simpler to realize than the dynamic binary gas sensor, it is more susceptible to external disturbances.

Current multimodal interfaces for complex systems, such as those designed using the Ecological Interface Design (EID) methodology, have largely focused on effective design of interfaces that treat each sensory modality as either an independent channel of information or as a way to provide redundant information. However, there are many times when operationally related information is presented in different sensory modalities. There is very little research that has examined how this information in different modalities can be linked at a perceptual level. When related information is presented through multiple sensory modalities, interface designers will require perceptual methods for linking relevant information together across modalities. This thesis examines one possible crossmodal perceptual relationship, temporal synchrony, and evaluates whether the relationship is useful in the design of multimodal interfaces for complex systems. Two possible metrics for the evaluation of crossmodal perceptual relationships were proposed: resistance to changes in workload, and stream monitoring awareness. Two experiments were used to evaluate these metrics. The results of the first experiment showed that temporal rate synchrony was not resistant to changes in workload, manipulated through a secondary visual task. The results of the second experiment showed that participants who used crossmodal temporal rate synchrony to link information in a multimodal interface did not achieve better performance in the monitoring of the two streams of information being presented over equivalent unimodal interfaces. Taken together, these findings suggest that temporal rate synchrony may not be an effective method for linking information across modalities. Crossmodal perceptual relationships may be very different from intra-modal perceptual relationships. However, methods for linking information across sensory modalities are still an important goal for interface designers, and a key feature of future multimodal interface design for complex systems.

New social networking and social web tools are becoming available and are easing the process of customizing online social environments. With these developments in technology, core design efforts are being extended beyond usability for individual users and beginning to include notions of sociability for the engagement of communities of users. This thesis is an investigation of these developments. It is guided by the principal research question: how do you design for social engagement in an online social environment intended to facilitate interaction in a community of users? To address this question, this thesis presents a domain-community model developed from the communities of practice concept and the Work Domain Analysis model used in Cognitive Work Analysis. The domain-community model provides a basis for the design a composition of web components for an online social environment that will addresses issues of social engagement and domain effectiveness. In a case study, the domain-community model was used as a basis for the redesign of a social networking portal used by an international development leadership community called UCP-SARnet. A social network analysis of core members of UCP-SARnet was conducted before and after the portal was redesigned. From the social network analysis, it was concluded that the structure of UCP-SARnet was positively affected by the redesign: core group members reported they knew one another significantly more after the redesign of the website than before the redesign. User experience measures of the UCP-SARnet portal, website usage data, and a tally of website communication activity also changed significantly with the redesign of the website. This provided more evidence that a design informed by Cognitive Work Analysis and communities of practice produced a measurable effect on the structure of the UCP-SARnet online community. As such, this model can provide a basis for designers of online communities to more systematically account for social phenomena in relation to collective efforts in a given work domain. Furthermore, it is expected the effectiveness of the model can be taken forward with future work by refining the domain-community model, developing techniques to translate the model into interface concepts, and building practices for community-based research and design.

There is currently a wide variety of six degree-of-freedom (6-DOF) motion capture technologies available. However, these systems tend to be very expensive and thus cost prohibitive. A software system was developed to provide 6-DOF motion capture using the Nintendo Wii remote’s (wiimote) sensors, an infrared beacon, and a novel hierarchical linear-quaternion Kalman filter. The software is made freely available, and the hardware costs less than one hundred dollars. Using this motion capture software, a robotic control system was developed to teleoperate a 6-DOF robotic manipulator via the operator’s natural hand movements. The teleoperation system requires calibration of the wiimote’s infrared cameras to obtain an estimate of the wiimote’s 6-DOF pose. However, since the raw images from the wiimote’s infrared camera are not available, a novel camera-calibration method was developed to obtain the camera’s intrinsic parameters, which are used to obtain a low-accuracy estimate of the 6-DOF pose. By fusing the low-accuracy estimate of 6-DOF pose with accelerometer and gyroscope measurements, an accurate estimation of 6-DOF pose is obtained for teleoperation. Preliminary testing suggests that the motion capture system has an accuracy of less than a millimetre in position and less than one degree in attitude. Furthermore, whole-system tests demonstrate that the teleoperation system is capable of controlling the end effector of a robotic manipulator to match the pose of the wiimote. Since this system can provide 6-DOF motion capture at a fraction of the cost of traditional methods, it has wide applicability in the field of robotics and as a 6-DOF human input device to control 3D virtual computer environments.

Many engineering applications make use of fiber assemblies under compression. Unfortunately, this compression behavior is difficult to predict, due to nonlinear compliance, hysteresis, and anelasticity. The main objective of this research is to develop an algorithm which is capable of incorporating the microscale features of the fiber network into macroscopic scale applications, particularly the modeling of contact mechanics in multibody systems. In micromechanical approaches, the response of a fiber assembly to an external force is related to the response of basic fiber units as well as the interactions between these units, i.e. the mechanical properties of the constituent fibers and the architecture of the assembly will both have a significant influence on the overall response of the assembly to compressive load schemes. Probabilistic and statistical principles are used to construct the structure of the uniformly-distributed random network. Different micromechanical approaches in modeling felt, as a nonwoven fiber assembly with unique mechanical properties, are explored to gain insight into the key mechanisms that influence its compressive response. Based on the deformation processes and techniques in estimating the number of fiber contacts, three micromechanical models are introduced: (1) constitutive equations for micromechanics of three-dimensional fiberwebs under small strains, in which elongation of the fibers is the key deformation mechanism, adapted for large deformation ranges; (2) micromechanical model based on the rate theory of granular media, in which bending and torsion of fibers are the predominant elemental deformations used to calculate compliances of a particular contact; and (3) a mechanistic model developed using the general deformation theory of the fiber networks with fiber bending at the micro level and a binomial distribution of fiber contacts. A well-established mechanistic model, based on fiber-to-fiber friction at the micro level, is presented for predicting the hysteresis in compression behavior of wool fiberwebs. A novel algorithm is introduced to incorporate a hysteretic micromechanical model - a combination of the mechanistic model with microstructural fiber bending, which uses a binomial distribution of the number of fiber-to-fiber contacts, and the friction-based hysteresis idea - into the contact mechanics of multibody simulations with felt-lined interacting bodies. Considering the realistic case in which a portion of fibers slides, the fiber network can be treated as two subnetworks: one from the fibers with non-sliding contact points, responsible for the elastic response of the network, and the other consisting of fibers that slide, generating irreversible hysteresis phenomenon in the fiberweb compression. A parameter identification is performed to minimize the error between the micromechanical model and the elastic part of the loading-unloading experimental data for felt, then contribution of friction was added to the obtained mechanistic compression-recovery curves. The theoretical framework for constructing a mechanistic multibody dynamic model of a vertical piano action is developed, and its general validity is established using a prototype model. Dynamic equations of motion are derived symbolically for the piano action using a graph-theoretic formulation. The model fidelity is increased by including hammer-string interaction, backcheck wire and hammer shank flexibility, a sophisticated key pivot model, nonlinear models of bridle strap and butt spring, and a novel mathematical contact model. The developed nonlinear hysteretic micromechanical model is used for the hammer-string interaction to affirm the reliability and applicability of the model in general multibody dynamic simulations. In addition, dynamic modeling of a flexible hub-beam system with an eccentric tip mass including nonlinear hysteretic contact is studied. The model represents the mechanical finger of an actuator for a piano key. Achieving a desired finger-key contact force profile that replicates that of a real pianist's finger requires dynamic and vibration analysis of the actuator device. The governing differential equations for the dynamic behavior of the system are derived using Euler-Bernoulli beam theory along with Lagrange's method. To discretize the distributed parameter flexible beam in the model, the finite element method is utilized. Excessive vibration due to the arm flexibility and also the rigid-body oscillations of the arm, especially during the period of key-felt contact, is eliminated utilizing a simple grounded rotational dashpot and a grounded rotational dashpot with a one-sided relation. The effect on vibration behavior attributed to these additional components is demonstrated using the simulated model.