The culmination of this research focuses on the area of structural support and stability as it relates to the field of large space structures. Fitting into the branch of in-space assembly, servicing, and manufacturing (ISAM), this topic covers essential subject matter areas of robotic manipulation, repair, state estimation, and structural health. As the next generation of space structures includes increased areas of modularity, the nature of structures built in-space lends itself significantly to repair efforts. With plans for these repair efforts in place, the lifetime of damaged structures can be greatly extended leading to a greater chance of mission success. By considering how repair efforts factor into the assembly scope, critical failures in large trusses, especially those involving single-point structural failures, can be mitigated. To do this, external forces are applied to the damaged structure utilizing an intelligent scaffolding formulation. This methodology employs robots to strategically apply loads to re-route abnormal stress and strain paths, correct for resulting deflections, and stabilize the structure itself. These tasks are vital to the safety of the structure and must take place before any repair efforts are considered in an effort to prevent cascading damage. The following research explores this damage simulation and correction paradigm through a variety of truss initial conditions, which allow for a suite of deflection responses. Utilizing these deflection responses a safe path for applying loads incrementally through generated waypoints is created with the help of the finite element modeler Ansys and a Python script. The ability for this system to successfully realign the wide scope of truss cases showcases that it is a truly adaptive system. Although this work is primarily proven within a simulation space, efforts to contextualize in a physical system and explore the elements needed to implement this method are also described. Finally, although this research is presented within the scope of damage repair, the final chapter looks to apply this method to other similarly unsupported structures by examining how critical it can be during assembly scenarios. / Doctor of Philosophy / As the industry sits on the edge of new in-space assembly technologies, a need to maintain these systems has arisen. The backbone upon which these new space technologies exist is with truss frameworks. By being able to build these sparse structures, large structures can be made with few components. These structures serve as critical mounting support for various instruments, engines, communication devices, solar panels, and more. As these structures are so critical across the board being able to repair a member when it becomes damaged is crucial. This research provides an avenue to do this. When a structure becomes damaged it will start to deform and bend. This presents unique challenges in attempting to replace an element or return the structure back to an operational state. First, the structure must be driven back into alignment to prevent further damage and hold the truss steady in preparation for repair. The methodology laid out within the dissertation covers how the use of simulations and force solvers can be implemented to create a path that allows a robot to force a structure into a desired configuration. To mimic the original damaged strut a strong stable platform robot called a Stewart Platform applies specific loads to correct the structure. This research shows structures with different specifications to highlight how this system can be universally applied to a single member damage scenario. Within this, simulations to showcase how this forcing method can be applied to these varying structures produce unique correction paths. These correction paths must be accurately driven across to ensure the safety of the structure. To broaden the application, a use case for this active force implementation was also shown as a critical component for assembly steps when elements are not properly supported. Throughout this, the need for intelligent scaffolding is shown to be a critical step in addressing structural health.

Au cours des dix dernières années, on a pu observer l'émergence de nouvelles problématiques de recherche portant sur les dysfonctions et les syndromes douloureux de la région lombaire. En effet, de nombreux chercheurs s'intéressent maintenant aux liens possibles entre le contrôle moteur, l'utilisation des informations proprioceptives en provenance du tronc et le développement de douleurs lombaires chroniques et aiguës. Dans cette thèse, trois articles permettant d'approfondir la question des déficits sensori-moteurs associés aux douleurs lombaires sont présentés. Les effets de la douleur chronique et de la douleur expérimentale dans des tâches de forces isométriques et de repositionnement du tronc sont, entre autres, abordés. Un quatrième article aux portées cliniques présente les résultats d'une étude sur les effets préventifs de la manipulation vertébrale. L'évaluation du statut sensori-moteur des patients atteints de douleurs lombaires permettra éventuellement de développer de nouveaux indices cliniques qui faciliteront le suivi et les interventions cliniques.

Submitted in partial compliance with the requirements for the Masters’ Degree in Technology: Chiropractic, Department of Chiropractic, Durban University of Technology, Durban, South Africa, 2014. / Background: Spinal manipulation has been shown to result in neurophysiological changes, most often noted in the paraspinal muscles. These effects have been associated with an increase in paraspinal muscle contractibility; it is unclear if this leads to an increase in paraspinal muscle endurance. Objectives: To determine the effect of sacroiliac joint (SIJ) manipulation compared to a placebo treatment of the SIJ on lumbar extensor muscle endurance time. Method: A randomised, placebo-controlled pre-test post-test experimental trial, involving 40 asymptomatic male participants divided into an intervention group receiving SIJ manipulation using an impulse adjusting instrument and a placebo group receiving a pre-load force without the delivery of an impulse thrust. Outcome measures were lumbar extensor muscle endurance time, surface electromyographic (SEMG) readings, lumbar spinal range of motion, paraspinal muscle length assessment and a subjective pain measurement. Results: There was a significant difference between the groups (p=0.004) with the SIJ manipulation group showing an increase in endurance time compared to the placebo group which showed a decrease. SEMG readings increased for both groups with no statistically significant difference between the groups (p>0.05). Only extension lumbar spinal range of motion significantly improved in both groups (p=˂0.001) with no significant differences between groups (p=0.876). Only one participant reported pain during the research procedure. Conclusions: SIJ manipulation may enhance the endurance of the paraspinal muscles. This study should be conducted in a larger sample to validate the findings.

Submitted in partial compliance with the requirements for the Masters’ Degree in Technology: Chiropractic, Department of Chiropractic, Durban University of Technology, Durban, South Africa, 2014. / Background Spinal manipulative therapy (SMT) is a commonly used therapeutic modality. It has been shown that neuromuscular reflexes are elicited during spinal manipulation resulting in changes in the surrounding muscle tonicity and seen as changes in surface electromyography. Despite this little is known about the effect that SMT may have on muscle function. Increased maximum voluntary contraction (MVC) of the paraspinal muscles has been observed following lumbar SMT compared to a control and sham treatment; however its effect on muscle endurance has not been investigated. The aim of this study was to determine the effect of lumbar SMT compared to a placebo treatment on lumbar extensor muscle endurance in asymptomatic individuals. Method This study was a quantitative double blinded, pre-test and post-test placebo controlled experimental trial. Forty asymptomatic participants were randomly allocated to one of two treatment groups. One group received a single SMT applied to the L3 vertebrae and the other received the pre-load force of the SMT but no thrust. Subjective (a self-report of pain/discomfort while performing the Biering-Sorensen test) and objective [surface electromyography (sEMG), paraspinal muscle endurance time and lumbar spine range of motion] measurements were taken pre- and post-intervention. The latest version of SPSS version (IBM SPSS Inc.) was used to analyse the data. A p-value < 0.05 was considered statistically significant. Independent t-tests were used to compare means and two-way factor ANOVA (for repeated measures) was used to compare the change in the two time points between the two treatment groups (intervention and control). RESULTS There were no statistically significant differences between the intervention and placebo groups in terms of subjective reports of pain/discomfort and objective evidence of surface EMG readings, paraspinal muscle endurance time and lumbar spine range of motion.

In this thesis an investigation into novel beams and optical manipulation is presented. Sculpting the phase profile of a Gaussian beam can result in the generation of a beam with unusual properties. Described in this thesis are optical vortices, Bessel beams and Airy beams. Additionally, optical manipulation was investigated using both novel beams and Gaussian beams with an emphasis on the use of a broad bandwidth laser source. The generation of multiple broadband optical trap sites was explored, and the transfer of orbital angular momentum from a broadband optical vortex to trapped microspheres was demonstrated. An introduction to the thesis and an overview of laser sources used for optical manipulation is presented in Chapters 1 and 2. Chapters 3 and 4 detail the background of optical manipulation and novel beam shaping. In Chapter 5, an investigation into the generation of multiple broadband optical trap sites is presented. Chapter 6 details the use of a ‘white light’ optical vortex to transfer orbital angular momentum to trapped microspheres. Chapter 7 presents the results of an investigation carried out using a supercontinuum source to characterise the wavelength and spatial coherence dependence of the properties of an optical Airy beam. The use of a monochromatic laser to generate Bessel beams that propagate along curved trajectories is detailed in Chapter 8. Chapter 9 summarises the thesis and suggests future work.

EFFECTS OF THORACIC SPINAL MANIPULATIVE THERAPY ON THORACIC SPINE AND SHOULDER KINEMATICS, THORACIC SPINE FLEXION/EXTENSION EXCURSION, AND PRESSURE PAIN SENSITIVITY IN PATIENTS WITH SUBACROMIAL PAIN SYNDROME By Joseph R. Kardouni, Ph.D., PT A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy, at Virginia Commonwealth University. Virginia Commonwealth University, 2013. Major Director: Lori A. Michener, PhD, PT, ATC, Professor, Department of Physical Therapy In patients with shoulder pain, the use of manual therapy directed at the spine and shoulder have been reported to provide superior outcomes to exercise based interventions or usual care without the use of manual therapy. Clinical trials have also reported improved pain and disability after thoracic spinal manipulative therapy (SMT) as a stand-alone treatment for shoulder pain. Although clinical efficacy is reported for the use of thoracic SMT for the treatment of shoulder pain, the mechanisms underlying the clinical benefits are not well understood. This limits the directed use of SMT. The benefits could be due to changes in spine or shoulder motion or neurophysiologic mechanisms of pain modulation. Elucidating the mechanism of manual therapy will aid the directed use of thoracic SMT for treating patients with shoulder pain. The research described in chapters 3 and 4 was performed to assess the effects of thoracic SMT in patients with subacromial pain syndrome with regard to biomechanical changes at the thoracic spine and shoulder and effects on central and peripheral pain sensitivity. Subjects with shoulder impingement pain symptoms were randomly assigned to receive 1 visit of thoracic SMT or sham SMT, applied to the lower, middle, and upper (cervicothoracic junction) thoracic spine. A 3-dimensional electromagnetic tracking system was used to measure thoracic and scapular kinematics during active arm elevation, and thoracic excursion at end-range of flexion and extension pre- post-treatment. Pressure pain threshold (PPT) was measured at the painful shoulder (deltoid) and unaffected regions (contralateral deltoid and bilateral lower trapezius areas) immediately pre- and post-treatment. PPT measures at the painful shoulder were used to assess peripheral and/or central pain sensitivity, and PPT at unaffected regions measured central pain sensitivity. Patient-rated outcomes measures of pain (Numeric Pain Rating Scale-NPRS), function (Pennsylvania Shoulder Score-Penn), and global rating of change (GROC) were used to assess changes in clinical symptoms following treatment. No significant differences were found between treatment groups for the thoracic kinematics or excursion, shoulder kinematics, PPT measures, or patient-rated outcomes. No differences were noted pre- to post-treatment in either group for thoracic kinematics or excursion or PPT measures. In both groups, there was a decrease in mean scapular external rotation over time during ascending arm elevation, but the change was less than measurement error. Outcome measures of NPRS, Penn and GROC indicated clinical improvements in both groups following treatment, but there were no differences between the thoracic SMT or sham SMT groups. There were no meaningful correlations between thoracic and scapular kinematics or thoracic excursion with the outcome measures of NPRS, Penn, or GROC. There was a significant positive correlation (r=0.52 , p=0.009) between change in PPT at the lower trapezius on the unaffected side and baseline Penn scores. Biomechanically, thoracic spine extension and excursion did not change following thoracic SMT, and the SMT group had no greater changes in shoulder kinematics or patient-rated pain and function than the sham SMT group. Additionally, thoracic SMT did not improve peripheral or central pain sensitivity as measured by PPT. Furthermore, improvements in patient-rated outcomes were not found to be related to changes in thoracic spine mobility, or shoulder kinematics with SMT. The single correlation between change in PPT and baseline Penn may indicate a neurophyciologic effect of SMT in patients with higher baseline function scores, but the since no other significant relationships between PPT and outcome were seen, the implications of this finding are limited. Overall, alterations in thoracic spine mobility and pressure pain sensitivity do not appear to be responsible for improved outcomes in patients with subacromial pain syndrome. Future studies should explore the effects of SMT using other measures of thoracic spine motion and experimental pain modalities, as well as greater dosing of SMT over a longer follow-up.

La manipulation est présente au cœur de l’œuvre d’Albert Camus. Elle s’exerce tant au niveau des personnages qu’au niveau du lecteur. Jean-Baptiste Clamence, dans La Chute, est un personnage extrêmement manipulateur. A la fin de son discours, il énonce ce que furent ses techniques de manipulation. A la lumière de La Chute, on découvre une nouvelle facette de l’œuvre d’Albert Camus, celle de la manipulation.Il existe différents manipulateurs. Il y a ceux qui le font avec un immense plaisir ou ceux qui manipulent pour le bien d’autrui. La manipulation s’exerce parfois au service d’un autre manipulateur. Des événements historiques peuvent être générateurs de manipulation en mettant ces personnages en action.Les personnages manipulés réagissent aussi de différentes manières. On peut dissocier les inconscients des conscients non consentants qui se battent pour s’en libérer. Il existe aussi des personnages conscients de leur manipulation et consentants de l’être.A l’adresse du lecteur, Albert Camus utilise différentes techniques comme le jeu sur les duos, les références à la Bible ou à ses différents écrits. Albert Camus met en place un processus nécessaire de compréhension qui rend le jugement impossible. La Chute apparaît comme le mode d’emploi de la manipulation. A travers les techniques de Jean-Baptiste Clamence, on découvre donc celles d’Albert Camus. Le premier Homme est d’ailleurs la seule œuvre exempte de manipulation et marque un tournant dans l’œuvre d’Albert Camus. / Manipulation is present in Albert Camus’s work. It acts at the level of both the characters and the reader. Jean-Baptiste Clamence, from The Fall, is an extremely manipulative character. At the end of his speech, he lists and describes his manipulation techniques. The Fall reveals a new aspect of Albert Camus’s work : manipulation.There are several kinds of manipulator: those who find personal pleasure in such behaviours, and those who act for the good of others. Manipulation may sometimes benefit another manipulator. Historical events may generate manipulation; they activate Camus’s characters.Manipulated characters also react in different ways. Some are unaware, others may be aware but are non-consenting and fight to free themselves, and other characters are aware of being manipulated and accept it.At the reader’s level, Albert Camus uses different techniques such as the play between duos, references to the Holy Bible or tho his own writings. Albert Camus creates an understanding which makes judgement impossible. The Fall almost resembles an instruction manual for manipulation. Through Jean-Baptiste Clamence’s techniques, we discover those of Camus himself. The First Man is the only one of Camus’s books that is free of manipulation, and in this respect represents a turning-point in his work.

La communauté de la Visualisation d'Information (Infovis) accorde une importance primordiale à la conception de techniques de visualisation nouvelles, efficaces, ou spécialisées. Alors qu'une technique de visualisation est composée à la fois de techniques de représentation et de techniques d'interaction, la conception de nouvelles techniques d'interaction pour l'Infovis passe souvent au second plan. Dans cette thèse, centrée sur l'interaction en Infovis, j'explore la conception de nouvelles techniques d'interaction afin de rendre des techniques de visualisation existantes plus efficaces, plus adaptées aux tâches utilisateur, et plus engageantes. Afin que ces techniques d'interaction soient efficaces, il est nécessaire d'abandonner les outils interactifs (widgets) standards et proposer des interfaces utilisateur allant au-delà des interfaces à fenêtres, icônes, menus et pointeur connues sous le nom d'interfaces WIMP (Window/Icon/Menu/Pointer).Dans cette thèse, je soutiens que la conception de nouvelles techniques d'interaction pour la visualisation devraient être basée sur le paradigme de la manipulation directe et sur le modèle de l'interaction instrumentale, et s'inspirer de paradigmes d'interaction établis en Interaction Homme-Machine (IHM) mais trop peu connus et reconnus en Infovis. En me basant sur plusieurs projets que j'ai menés au court de ma thèse, je démontre que la conception opportuniste d'interactions nouvelles peut rendre des techniques de visualisation plus efficaces. Ces différents projets soulèvent des problèmes de conception des techniques d'interaction, tels que le compromis entre la congruence cognitive d'une technique d'interaction et sa généricité, le problème de la conception d'interactions engageant l'utilisateur, et les mérites de l'interaction fluide et ininterrompue. Enfin, je propose un ensemble de règles dérivées des différents projets de cette thèse et je soumets des perspectives de travaux futurs, afin de contribuer au grand défi d'établir une théorie de l'interaction pour l'Infovis. / There is a tremendous effort from the information visualization (Infovis) community to design novel, more efficient or more specialized desktop visualization techniques. While visual representations and interactions are combined to create these visualizations, less effort is invested in the design of new interaction techniques for Infovis. In this thesis, I focus on interaction for Infovis and explore how to improve existing visualization techniques through efficient yet simple interactions. To become more efficient, the interaction techniques should reach beyond the standard widgets and Window/Icon/Menu/Pointer (WIMP) user interfaces. In this thesis, I argue that the design of novel interactions for visualization should be based on the direct manipulation paradigm, instrumental interaction, and take inspiration from advanced interactions investigated in HCI research but not well exploited yet in Infovis. I take examples from multiple projects I have designed to illustrate how opportunistic interactions can empower visualizations and I explore design implications raised by novel interaction techniques, such as the tradeoff between cognitive congruence and versatility, the problem of engaging interaction, and the benefits of seamless, fluid interaction. Finally, I provide guidelines and perspectives, addressing the grand challenge of building or consolidating the theory of interaction for Infovis.

In dieser Arbeit wurden auf Substratoberflächen adsorbierte Polymermoleküle mit Rasterkraftmikroskopie (RKM) untersucht. Dabei war die Form der Moleküle (Konformation) von besonderem Interesse. Sie ist von zentralerer Bedeutung in der Polymerphysik und wird üblicherweise in Lösung und mit Streumethoden untersucht. Polymerkonformationen auf Oberflächen sind heutzutage noch wenig untersucht. Üblicherweise wird das Verhalten nach dem so genannten Wormlike-Chain Modell angenommen. Es basiert auf der Annahme, dass die Kettenbiegung nur aus thermischen Fluktuationen resultiert, so dass sich die Kettenform durch statistische Mechanik beschreiben lässt. Es wurden für verschiedene Modellsystem einzelne Moleküle hochaufgelöst abgebildet und die Konformation aus den Bildern bestimmt. Es hat sich gezeigt, dass die idealisierte Vorstellung des Wormlike-Chain Modells tatsächlich nur für wenige der untersuchten Systeme erfüllt ist. Abweichende Konformationen sind oft auffallend regelmäßig: entweder sinusartig mäandrierte oder spiralförmig gedrehte. Beide Charakteristika lassen sich aus dem Prozess der Adsorption erklären, was zeigt, dass die Moleküle auf dem Substrat immobil sind, so dass eine thermische Relaxation der Konformation verhindert ist. Konformtionen lassen sich mit RKM nicht nur beobachten, sondern auch gezielt verändern (Nanomanipulation). Für dendronisierte Polymere konnte so gezeigt werden, dass es einen glasartigen Zustand für das einzelne Molekül gibt. In diesem Zustand verhält sich das Molekül nicht mehr wie eine bewegliche Kette, sondern formstabil, ähnlich einem makroskopischen festen Körper. / In this work single polymer molecules adsorbed onto substrate surfaces were investigated by scanning force microscopy (SFM). The focus was on the shape (conformation) of the molecules, which is of central importance in polymer physics. It is commonly investigated in solutions and with scattering methods. Conformations on surfaces are only little investigated thus far. Often a behavior according to the so-called worm-like chain model is assumed. It is based on the assumption that chain bending results entirely from thermal fluctuations so that the overall chain shape can be described by statistical mechanics. For several model systems single molecules were imaged and the conformation was determined from the images. It was found that the idealistic wormlike chain behavior is only valid for a few systems. Deviations are often remarkable regular: either sine-like undulated or spiral wound. Both characteristics can be explained from the process of adsorption, indicating that molecules are immobile on the substrate so that thermal relaxation is inhibited. Conformations can not only be imaged using the SFM, but also changed in a defined way (nanomanipulation). Manipulation experiments with dendronized polymers the existence of a glassy state for the single polymer. In this state the molecule no longer behaves as a flexible chain but remains its shape, similar to a macroscopic solid body.

Ce travail présente l'étude de la dynamique de spins d'ions Mn insérés dans des structures de CdTe de faibles dimensions. L'accent est plus particulièrement mis sur des boîtes quantiques individuelles de CdTe contenant un ion Mn unique, ce qui permet d'accéder aux interactions non perturbées de l'ion magnétique avec son environnement semi-conducteur. Nous présentons une méthode purement optique de manipulation et de lecture des états de spin de l'ion magnétique unique. Les expériences utilisent le fait que les états de spin se conservent lors d'un transfert excitonique entre proches boîtes quantiques, pour injecter un exciton polarisé dans la boîte contenant l'ion Mn afin d'orienter son spin. Les dynamiques de processus de réorientation sont observées lors de mesures résolues en temps, puis analysées via un modèle simple d'équations de taux. Un des mécanismes possible de réorientation, la recombinaison d'excitons sombres, est présenté expérimentalement, puis discuté. L'orientation optique de l'ion Mn est aussi utilisée pour étudier les relaxations spin-réseau d'un ion magnétique isolé sous faibles et sous forts champs magnétiques. Ce travail décrit aussi les phénomènes présents pour des champs magnétiques nuls ou faibles dans des systèmes de moments magnétiques plus grands (puits et boîtes quantiques contenant plusieurs ions Mn). Une nouvelle technique expérimentale, basée sur des impulsions magnétiques rapides, nous permet d'étudier la dynamique de spin des ions Mn en l'absence de champ magnétique et ce, avec une résolution temporelle de l'ordre de la nanoseconde. Nous observons une rapide décroissance de la magnétisation après une impulsion magnétique. Le phénomène est décrit en terme de couplage hyperfin avec le spin nucléaire des ions Mn. Cet effet est particulièrement sensible à toute anisotropie, notamment celles introduites par un gaz de trous ou par les contraintes du réseau. L'application d'un champ magnétique externe supprime les dynamiques rapides dans les puits quantiques magnétiques dilués et des phénomènes plus commun de relaxation lente spin-réseau sont alors observés. Il est toutefois surprenant que les boîtes quantiques avec un grand nombre d'ions Mn présentent ces dynamiques de spin rapides même après application d'un champ magnétique allant jusqu'à 0.5 T. Ce processus rapide pourrait venir des interactions spin-spin des ions Mn, en particulier si leur distribution spatiale n'est pas régulière à l'intérieur de la boîte. / This work is devoted to the studies of spin dynamics of magnetic Mn ions embedded in low-dimensional CdTe-based nanostructures. A particular emphasis is placed on the system of single CdTe quantum dots with single Mn ions, which give an insight into unperturbed interactions of magnetic ion with its semiconductor environment. A method of all-optical manipulation and readout of the spin state of a single magnetic ion is presented. The experiment exploits the spin-conserving exciton transfer between neighbouring quantum dots to inject polarized exitons into the dot with the Mn ion so as to orient its spin. The dynamics of the orientation process is measured in a time-resolved experiment and described with a simple rate equation model. One of possible orientation mechanisms - the dark excitons recombination - is discussed and shown experimentally. The optical orientation of the Mn ion is also used to investigate the spin-lattice relaxation of an isolated magnetic ion in low and high magnetic field. The work also addresses phenomena occurring in low and zero magnetic field in large systems of magnetic moments - quantum wells and quantum dots containing Mn ions. New experimental technique of fast magnetic pulses is used to investigate the Mn spin dynamics in the absence of magnetic field with nanosecond resolution. After the pulse of magnetic field, a fast decay of the magnetization is observed. The experimental findings are described in terms of hyperfine coupling with the nuclear spin of the Mn ions. The effect is highly sensitive to the presence of an anisotropy, particularly that introduced by hole gas and by strain. Application of the external magnetic field suppresses the fast dynamics in diluted magnetic quantum wells and a well known slow spin-lattice relaxation is observed. Surprisingly, quantum dots with many Mn ions show fast spin dynamics even after application of external field up to 0.5 T. The fast process may origin from the spin-spin interaction between the magnetic ions, especially if their spatial distribution within the dot is not uniform.