This thesis presents some experimental work in the area of manipulation of microparticles. Manipulation of both magnetic and non magnetic beads as well as microorganisms are addressed. The work on magnetic bead manipulation is focused on controlled transport and release, on a micrometer level, of proteins bound to the bead surface. Experimental results for protein transport and release using a method based on magnetization/demagnetization of micron-sized magnetic elements patterned on a modified chip-surface are presented. Special attention has been placed on minimizing bead-surface interactions since sticking problems have shown to be of major importance when protein-coated beads are used. The work with non-magnetic microparticles is focused on the dielectrophoretic manipulation of microorganisms. Preliminary experimental results for trapping and spatial separation of bacteria, yeast and non-magnetic beads are presented. The overall goal was to investigate the use of dielectrophoresis for the separation of sub-populations of bacteria differing in, for example, protein content. This was, however, not possible to demonstrate using our methods.Within the non-magnetic microparticle work, a method for determining the conductivity of bacteria in bulk was also developed. The method is based on the continuous lowering of medium conductivity of a bacterialsuspension while monitoring the medium and suspension conductivities.

The concept of the photographic truth has had a special status for almost 200 years. Yet with the emerge of digital technology and especially digital photography there has been a loss of the particular connection photography has had in reference to reality. The aim of this study is to see in what ways digitalization has affected the credibility of photography from the perspective of professionals in the field of photography. The digital technology that has enabled the large-scale manipulation of photographies is not, however, the main reason for the decreased credibility of photography. The ongoing discussion about the available possibilities concerning digital imagery and manipulation has had a far more powerful effect on the concept of the photographic truth. Along with these possibilities a post-photographic photograph has seen the light of day. We discuss further some credibility problems caused by this new phenomenon; i.e. the post-photographic photographies can’t be considered to have the same status as the traditional photographies when it comes to presenting reality truthfully. We approached the subject through theory studies and methodically through personal interviews. Key words: credibility, digitalization, manipulation, remediation, reality, noeme, and the post-photographic era.

The objective of this thesis is to develop high dielectric constant nanoparticle dispersion for switchable aircraft antenna systems. Two steps were designed to achieve the objective. First, obtain high dielectric, high aspect ratio nanoparticles and disperse them in dielectric oil medium. Second, manipulate the particle-oil dispersion using an external alternating current (AC) electric field to increase the effective dielectric constant. In order to obtain high dielectric dispersions, different sizes and shapes of titanium dioxide (TiO2) and barium titanate (BaTiO3) nanoparticles were purchased and measured. However, after a number of experiments detailed in the thesis, it was found that none of the commercially available nanoparticles could satisfy our requirements for a minimum effective dielectric constant. Thus, to achieve the goals above, we synthesized high aspect ratio BaTiO3 nanowires with BaC2O4 and TiO2 powders as precursors using a molten salt method. The as-synthesized BaTiO3 nanowires were characterized using scanning electron microscopy (SEM), X-ray diffraction (XRD), and energy dispersive spectroscopy (EDS) mapping. The nanowires have a diameter ranging from 100 nm to 300 nm, and their lengths range from 1.5 micrometers to 5 micrometers. Mechanical stirring and bath sonication were used to obtain even colloidal dispersions. Different concentrations of BaTiO3 nanoparticles well dispersed in the oil medium were successfully manipulated using AC electric field. To monitor the change in microstructure of BaTiO3 nanoparticles, optical microscopy was used to observe the alignment of particles in the sample under the applied electric field. Various parameters including the magnitude, frequency, and duration of the electric field, and the concentration of BaTiO3 nanoparticles were investigated to achieve the optimal alignment of nanoparticles. The experimental results were validated by theoretical analysis using Maxwell-Garnett mixing rule. It was demonstrated that the effective dielectric constant of the colloidal dispersions would increase with the increase of the magnitude, frequency and duration of applied electric field. Synthesized BaTiO3 nanowire-based dispersions exhibit significant enhancement of the effective dielectric constant compared to other colloidal materials. The effective dielectric constant of 5 wt percent BaTiO3-oil dispersions could reach up to 10 when aligned at 1000 V/mm electric field at 1 kHz frequency for 1 hour.

Children’s ability to manipulate objects is the end-point of several important developments. To imagine objects in different positions greatly improves children’s action capabilities. They can relate objects to each other successfully, and plan actions involving more than one object. We know that one-year-olds can insert an object into an aperture. Earlier research has focused on the start and goal of such actions, but ignored the way in between. This thesis shows that children are unable to fit an object into an aperture unless they can imagine the different projections of the object and rotate it in advance. The problem of how to proceed with an object-aperture matching was studied in 14- to 40-month-old children with a box, different holes and a set of fitting wooden blocks. Study I focused on how to orient a single object to make it fit. Studies II and III added a second object or aperture, introducing choice. In Study I there was a huge difference between 18 and 22 months in solving the fitting problem. Successful insertion was related to appropriate pre-adjustments. The older children pre-adjusted the object orientation before arriving at the aperture(s). The younger used a feedback strategy and that did not work for this task. To choose was more difficult than expected; one must not only choose one alternative, but also inhibit the other. Fifteen-month-olds were unable to choose between sizes and shapes, 20-month-olds could choose between sizes, 30-month-olds could choose between sizes and shapes, but not even 40-month-olds could choose between objects with different triangular cross-sections. Finally, the relationships between an object and an aperture, supporting surface or form were investigated. When comparing tasks requiring relationships between an object’s positive and an aperture’s negative form, between a 3D and a 2D, and between two 3D-forms, we found that the main difficulties is relating positive and negative form.

Plasmonics is a successful new field of science and technology that exploits the exclusive optical properties of metallic nanostructures to manipulate and concentrate light at nano-meter length scales. When light hits the surface of gold or silver nanoparticles it can excite collective oscillations of the conduction electrons called surface plasmons. This surface plasmon undergoes two damping processes; it can decay into photon and reemit the plasmon energy as scattered energy or decay into electron-hole pair with the excitation energy equal to the energy of the plasmon resonance, known as absorption. This high energy electron subsequently undergoes into the carrier multiplication and eventually scatters into the electrons with lower energy. We used Finite-Difference Time-Domain (FDTD) and Finite-Element Method (Comsol) to design nanoscale structures to act as nanoantenna for light harvesting and consequently manipulating radiative and absorption properties of them for Sensing and Photovoltaic applications. To manipulate near and far field we designed our structures in a way that the bright and dark plasmon modes overlap and couple to each other. This process is called Fano resonance and introduces a transparency window in the far-field spectra. At the same time it increases the near-field enhancement. We applied the changes in near-field and far-field to SERS (Surface Enhanced Raman Spectroscopy) and LSPR (Localized Surface plasmon Resonance) shift for sensing purposes. We modeled Fano resonances with classical harmonic oscillator and reproduced the same feature with a simple equation of motion. We used this model to replicate scattering spectra from different geometries and explain the cathodoluminescence results obtained from nanoscale gold clusters structure. All of these nanoantenna optical properties and applications are due to the reemission ability of the plasmon energy to the vacuum and confining optical field, but the plasmon energy can decay into a high energy carrier rather than radiation. Photons coupled into metallic nanoantenna excite resonant plasmons, which can decay into energetic, hot electrons injected over a potential barrier at the nanoantenna-semiconductor interface, resulting in a photocurrent. We design a device which the range of its potential applications is extremely diverse. As silicon based detector capable of detecting sub-band gap photons, this device could be used in photovoltaic devices to harvest solar energy. Plasmon generated hot electrons can be used in photocatalytic dissociation of H2 molecules at the room temperature as well. The hot electrons in their higher energy states can populate the antibonding orbital of H2 molecules adsorbed on the metal surface and thus trigger the H2 molecule dissociation. The goal is to demonstrate the high efficiency of metallic photocatalytic systems by detecting the formation of HD molecules from the individual dissociation of two isotopes, H2 and D2. At the end we introduce lightning rod effect in metallic nanostructures and investigated the relation between the geometry properties of micrometer rod antennas and the electromagnetic field enhancement induced due to the lightning rod effect. At long wavelength, metals behave like perfect equipotential conductors and all the field enhancement results from the drop of potentials across the junctions between individual nanoparticles. This phenomenon is called lightning rod effect. By designing proper geometry we were able to utilize this effect to obtain enough electromagnetic enhancements in MIR region of spectrum to observe SEIRA signals from few hemoglobin molecules. Our simulation shows that the field enhancement obtained from this antenna does not depend sensitively on wavelength which is another advantage for SEIRA spectroscopy. We offered an analytical model to explore the coupling between the hemoglobin molecules and the Efield. We used this model to study the location effect of the molecule on the reflection signal. This technique allows us to detect the vibrational mode of molecules such as Hemoglobin in the real time and study their changes when the molecules are exposed to different environmental circumstances.

We make two main contributions in this thesis. First, we present our approach to robot manipulation, which emphasizes the benefits of making contact with the world across all the surfaces of a manipulator with whole-arm tactile sensing and compliant actuation at the joints. In contrast, many current approaches to mobile manipulation assume most contact is a failure of the system, restrict contact to only occur at well modeled end effectors, and use stiff, precise control to avoid contact. We develop a controller that enables robots with whole-arm tactile sensing and compliant actuation at the joints to reach to locations in high clutter while regulating contact forces. We assume that low contact forces are benign and our controller does not place any penalty on contact forces below a threshold. Our controller only requires haptic sensing, handles multiple contacts across the surface of the manipulator, and does not need an explicit model of the environment prior to contact. It uses model predictive control with a time horizon of length one, and a linear quasi-static mechanical model that it constructs at each time step. We show that our controller enables both a real and simulated robots to reach goal locations in high clutter with low contact forces. While doing so, the robots bend, compress, slide, and pivot around objects. To enable experiments on real robots, we also developed an inexpensive, flexible, and stretchable tactile sensor and covered large surfaces of two robot arms with these sensors. With an informal experiment, we show that our controller and sensor have the potential to enable robots to manipulate in close proximity to, and in contact with humans while keeping the contact forces low. Second, we present an approach to give robots common sense about everyday forces in the form of probabilistic data-driven object-centric models of haptic interactions. These models can be shared by different robots for improved manipulation performance. We use pulling open doors, an important task for service robots, as an example to demonstrate our approach. Specifically, we capture and model the statistics of forces while pulling open doors and drawers. Using a portable custom force and motion capture system, we create a database of forces as human operators pull open doors and drawers in six homes and one office. We then build data-driven models of the expected forces while opening a mechanism, given knowledge of either its class (e.g, refrigerator) or the mechanism identity (e.g, a particular cabinet in Advait's kitchen). We demonstrate that these models can enable robots to detect anomalous conditions such as a locked door, or collisions between the door and the environment faster and with lower excess force applied to the door compared to methods that do not use a database of forces.

Une chirurgie minimalement invasive (CMI), qui implique généralement une caméra endoscopique et des instruments de laparoscopie, peut sembler être la procédure chirurgicale idéale pour ses avantages apparents. Toutefois, en comparaison à la chirurgie ouverte, les limites spatiales et outils mécaniques posés sur les chirurgiens sont si élevés que, souvent, la CMI est abandonné pour des cas complexes et même quand elle est possible, la procédure nécessite une grande dextérité, calibre et expérience du chirurgien. Cette recherche a été motivée par la nécessité d'habiles instruments chirurgicaux qui offrent un contrôle intuitif et une interface ergonomique, avec l'objectif final de développer un instrument robotisé adapté aux interventions par laparoscopie. La recherche a été basée sur l'évaluation comparative des différentes interfaces, modes de contrôle et cinématiques, en utilisant un simulateur de réalité virtuelle, développée spécialement à cet effet. Les résultats montrent que: 1. l'interface optimale a un mode de contrôle WYSIWYD (ce que vous voyez est ce que vous faites) et est exploité par les doigt. 2. les mobilités distales motorisées de l'effecteur doivent produire deux degrés de liberté (DDL) indépendants pour la flexion et la rotation de l'effecteur. Ce qui est suffisant pour des gestes SIG complexes. 3. ajouter une libre articulation à la poignée de l'instrument permet au chirurgien d'avoir une posture ergonomique. 4. un trocart actif permettrait la rotation de l'arbre de l'instrument avec un joint libre. Cette recherche a également permis le développement d'un prototype de validation de concept. Le prototype a été testé avec succès, in vitro et in vivo sur un modèle porcin.

Although interpersonal communication studies have focused on various aspects of interpersonal relationships, research on the player identity and gendered emotional manipulation in romantic relationships has received little attention. This narrative research inquiry was undertaken to explore perceptions of men and women related to the player identity and gendered emotional manipulation. This investigation used social construction as a theoretical perspective to understand three areas of investigation that include: the existence and relevance of the player identity, the player’s relation to emotionally manipulative behaviour, and the connection between socially constructed gender conventions and the player identity. Hesse-Biber’s (2006) feminist interviewing approach guided semi-structured interviews with six male and six female participants. Respondents reported the existence and relevance of the player identity in romantic relationships today, connecting this identity to emotionally manipulative behaviour, as well as relating this identity to traditional gender conventions. Finally, implications for men and women in romantic relationships today and future areas of research are discussed in light of these findings.

Altered neuromuscular processing and motor output as both a risk and perpetuating factor for chronic neck pain is a relative new area of study. The cervical flexion relaxation response (FRR) is a reproducible and reliable marker of differences in neuromuscular function between neck pain patients and controls. Change in joint position sense (JPS) of upper limb joints has also been linked to chronic neck pain. Studies in this thesis sought to develop an experimental model in humans to investigate whether the FRR and JPS can be altered by fatigue and/or postural stress. Additionally a pilot study on the effect of three months of chiropractic treatment on the FRR was conducted. The studies revealed that muscular fatigue is a modulator of the FRR and may play a large role in spine stabilization. Minor postural alterations in the neck can impact joint position error at the elbow and 12 weeks of chiropractic care is a useful therapy to improve chronic and recurrent neck pain as well as improving the cervical FRR. / UOIT

An all-optical micromanipulation technique is presented in the framework of precise cell selection within a cell culture and multiplexed transport capabilities for microfluidic single cell analysis applications. The technique was developed by combining an optical tweezer setup with a novel integrated waveguide cell propulsion method referred to as end-face waveguide propulsion (EFWP). The EFWP technique delivers optical forces to a particle generating thrust. The thesis is divided into two sections: simulation and experimental validation. In the first section a new simulation technique based on ray optics theory (ROT) and the beam propagation method (BPM) is used to predict particle velocity and trajectory along a microfluidic propagation channel. In this work, the ROT-BPM technique is used to analyse and optimize the waveguide geometry to maximize particle velocity. Analysis of the impact of common microchip manufacturing limitations on velocity is performed to determine acceptable fabrication process tolerances. The second section presents experimental results of polymer microspheres and acute myeloid leukemia (AML) cells as biological targets. The experimental results are compared with simulations performed in the first section. Correction factors are added to the simulations to reflect the experimental device parameters. Thermal e_ects due to photon absorption within the fluidic channels are also investigated and corrected for. The final analysis indicates that the ROT-BPM technique developed in this work can be used to adequately predict particle velocity and trajectory path. EFWP currently delivers the fastest particle velocities compared to other optical micromanipulation techniques currently available in microfluidic applications. While the technique is focused on addressing chemical cytometry precise particle selectivity and high throughput needs, EFWP can also be used in many other single cell applications.