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Afin de répondre à des besoins croissants en nano-caractérisation, nous avons développé une plateforme multifonctionnelle combinant des techniques de microscopie optique et de microscopies en champ proche.Au coeur de ce dispositif se trouve l'échantillon. Ceux optiquement semi-transparents en exploiteront au mieux la palette des techniques implémentées. Parmi eux des couches minces (100nm), nanostructurées, de matériaux organiques photovoltaïques.La plateforme permet d'utiliser différentes techniques de microscopies à sonde locale (AFM1, KPFM2, SNOM3, ...) couplées à un microscope optique inversé qui autorise illumination ou imagerie. Versatile, elle peut accueillir des portes-échantillons d'autres techniques développées ou présentes au laboratoire (en particulier les microscopies électroniques à projection, à transmission ou à balayage). Elle est également conçue pour faciliter l'intégration d'autres techniques.Outre le développement de la plateforme, ce manuscrit montre la part importante du travail effectuée pour mettre au point et exploiter une microscopie à sonde de Kelvin (KPFM) à haute résolution sous illumination.Des résultats obtenus sur des matériaux organiques photovoltaïques permettent notamment d'illustrer les excellentes performances de notre plateforme de nano-caractérisation et des techniques associées. / To address the increasing demand on nanomaterials investigation, we developed a cross-characterization platform combining scanning probe microscopies (AFM 1, KPFM 2, SNOM 3, ...) and inverted optical microscopy. The inverted optical microscope, allowing both illumination and imaging, is augmented with near field microscopies such as cited above.The heart of our setup is the sample. Optically semi-transparent samples will best benefit the range of implemented complementary technics, among these samples, nanostructured organic photovoltaic thin (100nm) films. However, the flexible platform is thought to be adaptable to other samples and thus sample-holders used for other characterization techniques existing in the Institute, such as scanning or transmission electron or projection microscopies. The platform is also designed to simplify future extension to other experimental technics.Beyond the platform itself, the manuscript shows the important effort devoted to develop, and take benefit of, a Kelvin probe microscopy under illumination.Results obtained on organic photovoltaic materials demonstrate the possibilities of our original setup and prove its performance to be at state of the art.

The aim of this master´s thesis is an explanation of the problem of transport optical networks with Dense Wavelength Division Multiplexing. DWDM principle, properties and limit of transmission system. Focus of thesis is also specification properties of migration transmission system to higher speed 40G, 100G and in future to 400G. Part of thesis is outlined the basic division of multiplexing system, there are discussed the basic solutions of wavelength multiplexes CWDM and DWDM, focus for the effects of nonlinear phenomena and parasitic modulation FWM, SPM and XPM in modulation DP-QPSK and 16-QAM. In practicle part we will make measurement of properties of 10G and then experimental measurement parameters on 100G.

Dünne Silizium- und Germaniumdioxidfilme auf Ru(0001)-Kristallen werden hinsichtlich dynamischer Prozesse untersucht. Zwischen Oxidfilm und Substrat befinden sich Sauerstoffatome, die eine ent-scheidende Rolle in diesen Systemen spielen. Zunächst werden diese Sauerstofflagen auf Ru(0001) mittels Hochgeschwindigkeits-Rastertunnelmikroskopie (STM) analysiert. Daraufhin wird die GeO2-Monolage auf Ru(0001) bei hohen Bildraten mit einer selbstentwickelten halbautomatischen Netz-werkdetektion untersucht. Schließlich wird die SiO2-Bilage auf Ru(0001) mit konventionellen sowie mit schnellen STM-Messungen bei Raumtemperatur und bei 600 K abgebildet. Um schnelle Messungen bei hohen Temperaturen zu realisieren, wird ein Hochgeschwindigkeits-STM konstruiert, welches bei unterschiedlichen Temperaturen betrieben werden kann. Unkon-ventionelle Spiralgeometrien ermöglichen verzerrungsfreie Bilder in weniger als 10 ms aufzunehmen. Die adsorbierten Sauerstofflagen werden erstmals bei hohen Bildraten untersucht. Die experimen-tellen Ergebnisse werden durch extern durchgeführte Dichtefunktionaltheorie-Berechnungen ergänzt. In den auf Ru(0001) bei Raumtemperatur stabilen Sauerstofflagen O(2×2), O(2×1) und 3O(2×2) werden dynamische Prozesse beobachtet. Die Besetzung des Zwischenzustandes entlang des Diffusionspfades und schnelle "Umklapp"-Prozesse eindimensionaler Linien werden auf atomarer Ebene aufgelöst. Komplexe Domänengrenzen in der GeO2-Monolage auf Ru(0001) werden mit Hochgeschwindigkeits-STM abgebildet. Die Messungen an der SiO2-Bilage auf Ru(0001) zeigen dynamische Änderungen des Abbildungskontrasts, die mit den mobilen Sauertsoffatomen an der Grenzfläche zusammenhängen können. Messungen bei hohen Temperaturen zeigen dynamische Kontraständerungen von mesoskopischen Strukturen. Diese Messungen stellen die ersten schnellen Hochtemperatur-STM-Aufnahmen des Siliziumdioxidfilms dar und bilden die Grundlage für künftige Studien zu dynamischen Veränderungen in dünnen Oxidschichtsystemen. / Dynamics related to thin silicon- and germanium dioxide films that are grown on Ru(0001) crystals are investigated. Between the film and the metal support oxygen species are present that play a crucial role for these film systems. First, these oxygen adlayers on Ru(0001) are analyzed by high-speed scan-ning tunneling microscopy (STM) with the focus on dynamic processes. In a next step, the monolayer of germanium dioxide (germania) supported on Ru(0001) is studied at elevated frame rates and with a self-designed semi-automated network detection. Finally, the bilayer of silicon dioxide (silica) on Ru(0001) is studied by conventional and by high-speed STM both at room temperature and at 600 K. To realize fast STM measurements at elevated temperatures, a high-speed STM is designed that can operate at variable temperatures. Images are acquired in less than 10 ms with unconventional spiral scan patterns. The dynamics in oxygen adlayers are investigated for the first time at elevated frame rates. Experimental results are supported by density functional theory (DFT) calculations performed externally. Dynamic events are observed in the oxygen adlayers that are stable on Ru(0001) at room temperature, namely O(2×2), O(2×1), and 3O(2×2). The occupation of an intermediate state along the oxygen diffusion pathway and fast "flipping" events of atomic one-dimensional stripe patterns are observed. On the germania monolayer on Ru(0001), complex domain boundary structures are resolved with high-speed STM. In high-speed scans on the silica bilayer on Ru(0001), dynamic changes of the imaging contrast are observed that may relate to the mobile species in the oxygen interfacial layer. Measurements at elevated temperature reveal dynamic contrast changes of mesoscopic features. These measurements constitute the first high-speed STM scans on the silica film at elevated temperatures and form the basis for future studies with the focus on dynamic processes in thin oxide film systems.

L'étude des effets optiques non-linéaires suscite un vif intérêt pour un large champ d'applications dans les systèmes de transmission optiques, comme la régénération des données ou le démultiplexage temporel. La réalisation de ces fonctions exige de nouvelles fibres ou guides d'ondes qui possèdent une très forte non-linéarité Kerr. Dans le cadre de cette thèse nous avons retenu l'étude de guides polymères et de fibres en verres de chalcogénures pour leur très fort coefficient non-linéaire n2 dont la valeur atteint 10000 respectivement 500 fois celui de la silice à la longueur d'onde de 1550 nm. Dans cette thèse, nous proposons de nouvelles méthodes de caractérisations non-linéaires de fibres et guides optiques. Ces méthodes permettent de déterminer simultanément le coefficient non-linéaire Kerr et la dispersion ainsi que d'améliorer la précision de mesure par rapport aux techniques précédentes. Une nouvelle solution d'analyse modale est également développée. La méthode permet non seulement de calculer le nombre de modes, mais aussi de déterminer la distribution de puissance entre les modes. Nous proposons ensuite la caractérisation et la démonstration d'effets non-linéaires dans deux nouvelles fibres microstructurées en verre de AsSe fabriquées en 2010 et 2011 par Perfos, Lannion et SRC, Rennes. Deux records de non-linéarité de 31300 W-1km-1 et 41000 W-1km-1 sont mesurés Pour la dernière fibre (fabriquée en 2011), la conversion de longueur d'onde à 10 GHz et 42,7 GHz a été réalisée avec une puissance d'entrée compatible avec les télécoms. Finalement, les conditions nécessaires à l'observation des effets non-linéaires dans les guides polymères sont étudiées.

Made available in DSpace on 2016-04-27T19:30:14Z (GMT). No. of bitstreams: 1 Antonio Alves de Almeida.pdf: 7139786 bytes, checksum: b365e33d6f01ddf33abf0b47ace1a5bf (MD5) Previous issue date: 2011-04-20 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / Slavery was officially abolished in Brazil on May 13, 1888. However, in practice it remains and today has elements of the present and the past. As in Brazil, slavery labor in the contemporary world is a reality that affects at least 27 million people, according to Kevin Bales. In our country this phenomenon can be seen in urban and rural life. In this latter, it can be found in all Brazilian states in different agricultural crops and economic sectors, such as livestock, charcoal, culture of soybean, apple, mate, orange, sugar cane etc. According to Pastoral Land Commission (CPT), the alcohol sector in recent years has been the leader in the number of workers freed in Brazil. In São Paulo, the richest state in this federation, has also been reported as a state of over-exploitation and slavery labor. These workers are mostly migrants (miners and Northeast people). They leave their homeland due to lack of minimum conditions of survival and go to São Paulo to "earn a living and send money to their families. There is an "invisible" world in the middle of sugarcane plantations. In these fields, workers have to cut around fifteen tons of cane in a day, under very high temperatures and still suffering from burns when placing cane fires, cuts in upper and lower limbs and poisonous animal bites. Many workers die from overwork called the death tired". Others acquire diseases like cancer and herniated disc. Useless to work, they are discarded by the owners and have to live their lives with their relatives or friends. Many of these workers are still coerced in the "new slave quarters , shacks and slums in the suburbs, which are usually overcrowded and without the minimal conditions of hygiene and safety. In this context of precarious employment and human dignity, these workers have just the support of governmental agencies and civil society. In this latter, we highlight the CPT and the Migrants Pastoral Services (SPM). This research aims to bring to light the actions of these two Catholic Church groups from the sugar cane cutters in the state of Sao Paulo. The work of the CPT and the SPM is extremely important to the sugar cane workers to live their lives with more dignity. These institutions help to coin the term slavery labor and they act with the workers bringing them conscious about their directs and encouraging them to fight for their rights. Also, executes a variety of complaints always relying on national and international legislation / A escravidão foi abolida oficialmente no Brasil no dia 13 de maio de 1888. Todavia, na prática ela se manteve, embora tenha se transformado e, na atualidade apresenta elementos do velho e do novo. Assim como no Brasil, o trabalho escravo contemporâneo no mundo é uma realidade que atinge no mínimo 27 milhões de pessoas, segundo Kevin Bales. Em nosso país, se constata este fenômeno no meio urbano e rural. Neste último, ele é encontrado em todos os estados brasileiros em diferentes culturas agrícolas e setores da economia, como na agropecuária, na carvoaria, na cultura da soja, da maçã, da erva mate, da laranja, da cana-de-açúcar etc. Segundo dados da Comissão Pastoral da Terra (CPT), o setor sucroalcooleiro nos últimos anos tem sido campeão no número de trabalhadores libertados no Brasil. Em São Paulo, o estado mais rico da federação, também se constata casos de superexploração e de trabalho escravo. Estes trabalhadores são em grande parte migrantes (mineiros e nordestinos). Eles deixam sua terra natal por falta de condições mínimas de sobrevivência e vão para as terras paulistas ganhar a vida e enviar recursos financeiros para a manutenção de suas respectivas famílias. Há um mundo invisível no meio dos canaviais. No eito, os trabalhadores têm que cortar em torno de quinze toneladas de cana ao dia, sob temperaturas altíssimas e ainda sofrem acidentes como queimaduras ao colocarem fogo na cana, cortes nos membros superiores e inferiores e picadas de animais peçonhentos. Muitos deles chegam a morrer por excesso de trabalho a morte cansada . Outros adquirem doenças como câncer e hérnia de disco. Imprestáveis ao trabalho, este canavieiros são descartados pelos usineiros e passam a viver de favor com parentes ou amigos. Muitos deles ainda são violentados nas novas senzalas , barracos e cortiços na periferia das cidades, superlotados e sem condições mínimas de higiene e segurança. Nesse quadro de precarização do trabalho e da dignidade humana, esses trabalhadores contam com o apoio de órgãos governamentais e da sociedade civil. Nesta última, destacam-se a CPT e o Serviço Pastoral dos Migrantes (SPM). Esta pesquisa tem como objetivo trazer à luz a atuação destas duas pastorais da Igreja Católica junto aos cortadores e cortadoras de cana no estado de São Paulo. O trabalho da CPT e do SPM é fundamental para os canavieiros viverem com mais dignidade. Estas pastorais ajudam a cunhar o conceito trabalho escravo e atuam junto aos trabalhadores, conscientizando-os dos seus direitos e incentivando-os em suas lutas. Ademais, realizam diversas denúncias, apoiando-se sempre na legislação nacional e internacional

La connaissance de la dynamique des matières en suspension (MES) et des turbidités en milieu côtier est un élément clé pour comprendre les écosystèmes marins. Les processus de floculation/défloculation représentent des mécanismes essentiels contrôlant la dynamique des caractéristiques physiques des MES et, par conséquent, leur devenir dans l’environnement. Cette thèse a pour objectif de mieux comprendre la caractérisation des MES et leur variabilité de l’échelle tidale à l’échelle annuelle en mer côtière, en réponse aux différents forçages hydrodynamiques, hydrologiques et biologiques ayant lieu à l’interface entre estuaire et baie. À cette fin, des capteurs optiques et acoustiques ont été déployés in situ, lors de 6 campagnes en mer réalisées en 2016, en vue de caractériser et de quantifier les MES dans la colonne d’eau, à la sortie de l’embouchure de l’estuaire de Seine (France). Une analyse critique des mesures granulométriques issues du LISST-100X est proposée. Un travail de quantification des incertitudes de mesure associées à l’estimation de la concentration en MES a mis en avant le risqué lié à un rinçage insuffisant des filtres et a conduit à définir une masse minimum à filtrer, de l'ordre de 10 mg, quelle que soit la concentration. Ce travail a notamment permis de proposer une méthode d’estimation d’un volume optimal de filtration basée sur une mesure préalable de turbidité de référence. Les mesures à haute fréquence ont montré que la dynamique des caractéristiques physiques des MES en termes de concentration et de taille médiane sont contrôlées par le cycle advection-floculation-sédimentation-remise en suspension. Ces résultats ont permis de hiérarchiser les paramètres de contrôle des processus de floculation. La turbulence a été identifiée comme le principal paramètre de contrôle à l’échelle tidale et semi-lunaire, la taille médiane maximale des flocs étant inversement corrélée à l’intensité des courants. À l’échelle saisonnière, la variation des caractéristiques des MES (taille, densité, vitesse de chute) est liée à la variabilité du contenu en matière organique (MO), avec une floculation favorisée quand le taux de MO particulaire augmente. Ces flocs plus grands et moins denses sont également plus résistants à la fragmentation induite par cisaillement turbulent. Ces travaux ont également permis de discuter le concept de structuration fractale des flocs.La dynamique de la dimension fractale, déterminée en combinant des données in situ de concentration en MES et de distribution en classe de taille, peut traduire des variations de composition des MES, mais peut aussi résulter d'incertitudes de mesure associées aux instruments. Ces dernières sont discutées dans cette thèse. La variabilité saisonnière des caractéristiques des MES est plus prononcée au large que dans la zone sous influence de l’estuaire de Seine. À partir des observations ponctuelles en Baie de Seine et d’une série de mesure long terme dans la zone côtière belge acquise par le laboratoire RBINS, les méthodes acoustiques et optiques sont combinées. Ces dernières ont mis en avant une augmentation de la rétrodiffusion acoustique lorsque la densité moyenne des flocs diminue. / The knowledge of suspended particulate matter (SPM) and turbidity dynamics in coastal waters is essential for studying marine ecosystems. Flocculation/deflocculation processes are crucial mechanisms controlling the dynamics of SPM physical characteristics and thus, the fate of these SPM in the environment. This PhD thesis focuses on the SPM characteristics and their dynamics in coastal waters, from tidal to annual scales, in response to hydrodynamic, hydrological and biological forcing that take place at the interface between estuaries and coastal seas. To this end, optical and acoustic sensors were deployed in situ through 6 field campaigns in 2016, in order to characterize and quantify SPM in the water column, near the mouth of the Seine estuary (France). A critical analysis of LISST-100X measurements in coastal waters is presented. The quantification of uncertainties on SPM concentration measurements is investigated: it highlights the crucial effect of salt retention, and the need for a minimum mass to filter, around 10 mg. A method for estimating an optimal filtration volume based on a reference turbidity measurement is proposed. High frequency measurements show that the dynamics of SPM and median diameter are controlled by the advection-flocculationsedimentation-resuspension cycle.These results allow to classify the factors controlling flocculation processes. Turbulence is identified as the main factor at the semi-diurnal and semi-lunar tidal scales, as the maximum median size of flocs decreases when the tidal currents intensify.At the seasonal scale, the variation of SPM characteristics (size, density, settling velocity) is correlated to the variability of the organic matter (OM) content: in particular, flocculation is enhanced by an increase of the particular OM fraction. The resulting larger and lesser dense flocs are also more resistant to the fragmentation induced by shear. This work also investigates the fractal approach applied to flocs. The fractal dimension variability, calculated by combining in situ data of SPM concentration and particle size distribution, can be associated to variations of the SPM composition, but can also result from uncertainties linked to instrument limitations. The latter are discussed in this PhD thesis. The seasonal variability of SPM characteristics is more pronounced offshore than at the mouth of the Seine estuary. From short-term observations in the Seine Bay and from long-term series in the Belgian coastal zone provided by the RBINS, optical turbidity and acoustic backscatter measurements are combined. They highlight an increase of the acoustic backscatter intensity when mean floc density.

The object of this thesis is to apply scanning probemicroscopy (SPM) to the field of advanced powder processing.Measurement of interparticle surface forces at conditionsrelevant to ceramic processing has been performed together withthorough studies of powder friction. Surface force measurements between silicon nitride andsilica surfaces in 1-bromonaphtalene and diiodomethane resultedin an attractive van der Waals force in both media for thesymmetric systems and a repulsive van der Waals force for theasymmetric systems. This agreed well with theoreticalpredictions from Lifshitz theory. Measurements in electrolytesolutions between silicon nitride surfaces with a varyingdegree of oxidation showed that silanol groups dominated theinteractions at a high degree of oxidation, whereas theinfluence of amine species became stronger after surfaceetching. Surface charge, surface potential and density ofsurface groups have been extracted from DLVO computer modellingof the experimental force curves. Surface force measurementshave been carried out using a nitrided silica sphere as acolloidal probe, representative for commercial silicon nitridepowders. Adsorption of poly(acrylic acid) above the isoelectricpoint generated a thin polymer layer of an essentially flatconformation. Friction force measurements were attainable via novelcalibration procedures of both the lateral photodetectorresponse and the cantilever torsional spring constant.Combining the method for detector calibration with evaluationof static friction slopes simplified the choice of appropriatecontact mechanics theory to evaluate the friction measurements.Applying the method on friction measurements between ironsurfaces coated with commercial lubricants showed a substantialsurface deformation not seen from the friction force alone. Thenanorheological properties of silica surfaces coated with twodifferent stearic acids have been evaluated from friction forcemeasurements. Steady sliding motion was replaced by highlyregular stick-slip motion at a critical load and velocity. Thestick-slip motion was successfully described and fitted to aphenomenological model. The contact area evaluated fromMaugis-Dugdale theory revealed the contact diameter to be veryclose to the stick-slip periodicity. Friction measurements were carried out between individualspray-dried ceramic granules as a function of binderconcentration and relative humidity. The hygroscopic nature ofthe binder resulted in a higher adhesion force but lowerfriction coefficient with increasing humidity. This effect wasascribed to softening of the binder and a lowering of the shearstrength of the binder rich surface layer on the granules.Comparison of the friction force between two granules and agranule and a hard metal surface confirmed that resistance toflow during the initial stages of powder pressing is dominatedby granule-wall friction and adhesion. Keywords: Atomic force microscope, AFM, SPM, van der Waalsinteraction, DLVO-theory, surface forces, colloidal probe,force curve, friction, adhesion, stick-slip, cantilever,calibration, spring constant, silicon nitride, iron,silica.

<p>The object of this thesis is to apply scanning probemicroscopy (SPM) to the field of advanced powder processing.Measurement of interparticle surface forces at conditionsrelevant to ceramic processing has been performed together withthorough studies of powder friction.</p><p>Surface force measurements between silicon nitride andsilica surfaces in 1-bromonaphtalene and diiodomethane resultedin an attractive van der Waals force in both media for thesymmetric systems and a repulsive van der Waals force for theasymmetric systems. This agreed well with theoreticalpredictions from Lifshitz theory. Measurements in electrolytesolutions between silicon nitride surfaces with a varyingdegree of oxidation showed that silanol groups dominated theinteractions at a high degree of oxidation, whereas theinfluence of amine species became stronger after surfaceetching. Surface charge, surface potential and density ofsurface groups have been extracted from DLVO computer modellingof the experimental force curves. Surface force measurementshave been carried out using a nitrided silica sphere as acolloidal probe, representative for commercial silicon nitridepowders. Adsorption of poly(acrylic acid) above the isoelectricpoint generated a thin polymer layer of an essentially flatconformation.</p><p>Friction force measurements were attainable via novelcalibration procedures of both the lateral photodetectorresponse and the cantilever torsional spring constant.Combining the method for detector calibration with evaluationof static friction slopes simplified the choice of appropriatecontact mechanics theory to evaluate the friction measurements.Applying the method on friction measurements between ironsurfaces coated with commercial lubricants showed a substantialsurface deformation not seen from the friction force alone. Thenanorheological properties of silica surfaces coated with twodifferent stearic acids have been evaluated from friction forcemeasurements. Steady sliding motion was replaced by highlyregular stick-slip motion at a critical load and velocity. Thestick-slip motion was successfully described and fitted to aphenomenological model. The contact area evaluated fromMaugis-Dugdale theory revealed the contact diameter to be veryclose to the stick-slip periodicity.</p><p>Friction measurements were carried out between individualspray-dried ceramic granules as a function of binderconcentration and relative humidity. The hygroscopic nature ofthe binder resulted in a higher adhesion force but lowerfriction coefficient with increasing humidity. This effect wasascribed to softening of the binder and a lowering of the shearstrength of the binder rich surface layer on the granules.Comparison of the friction force between two granules and agranule and a hard metal surface confirmed that resistance toflow during the initial stages of powder pressing is dominatedby granule-wall friction and adhesion.</p><p>Keywords: Atomic force microscope, AFM, SPM, van der Waalsinteraction, DLVO-theory, surface forces, colloidal probe,force curve, friction, adhesion, stick-slip, cantilever,calibration, spring constant, silicon nitride, iron,silica.</p>

L'objectif de ce travail est de concevoir une nouvelle interface haptique en vue de son exploitation pour la chirurgie mini-invasive. La technique d'anastomose ciblée consiste à réunir deux parties désolidarisées d'une artère par des sutures et des nœuds. Ceci est effectué par des outils chirurgicaux introduits à travers de petites incisions. Une étude expérimentale de cette tâche a été effectuée en collaboration avec des chirurgiens afin de caractériser leurs gestes. L'enregistrement de l'opération par un système de capture de mouvement a permis d'identifier la nature et les gestes canoniques de cette technique. Une structure parallèle sphérique a été ensuite adoptée comme base de l'interface haptique. Cette architecture présente un centre fixe de rotation semblable au point d'incision réel et offre les trois degrés de liberté de rotation nécessaires autours de ce point. Une étude détaillée de cette architecture suivie d'une phase d'optimisation, a permis d'adapter la structure à l'application chirurgicale. L'optimisation, basée sur un algorithme générique, a porté dans un premier lieu sur l'espace de travail de la tâche. La dextérité de la structure a été ensuite prise en compte. Une phase de conception basée sur les paramètres résultants de cette optimisation a aboutie à la réalisation d'un premier prototype. L'influence des erreurs de fabrication sur l'orientation de la plateforme a été aussi traitée dans ce travail afin de déterminer les plages des défauts admissibles. Une modélisation, utilisant les torseurs de petits déplacements, a été élaborée.La dernière partie de ce travail porte sur la commande a retour d'effort de l'interface. Un banc d'essais à 1 degré de liberté a été réalisé afin de tester les différents schémas de contrôle pour la téléopération. Les essais en simulation on permit de dresser une vue comparative de ces schémas. / The aim of this work is to develop a new haptic interface to perform a minimally invasive surgery. The targeted anastomosis technique consists of the surgical binding of a ruptured blood vessel, using sutures and knots. This task is performed by surgical tools inserted through small incisions. An experimental study of this task was conducted in collaboration with surgeons in order to characterize their gesture. The recording of the operation by a motion capture system helped identifying the nature and the canonical actions of this technique. A spherical parallel mechanism (SPM) was then adopted as a basis for the haptic interface. This architecture has a fixed center of rotation similar to the real incision point and offers the three required degrees of freedom of rotation around that point. A detailed study of the architecture followed by an optimization procedure led to a suitable mechanism for the surgical application. The optimization, which is based on a generic algorithm, used the workspace of the task as a criterion. Then the dexterity of the structure was taken into account. A design phase based on the parameters resulting from this optimization led to building the first prototype.The influence of manufacturing errors on the orientation of the platform was also addressed in this work to determine the ranges of allowable defects. The manufacturing errors are modeled by screws of small displacement in order to determine their effect on the orientation error of the end effector. The last part of this work focuses on the command of the force feedback interface. An experimental setup made out of a one degree of freedom system, was built to test different control schemes for teleoperation. Simulation trials allowed developing a comparative view of these schemes.