A novel actuated digit with tactile feedback for clinical applications

This thesis describes the work carried out on the development of a novel digit actuator system with tactile perception feedback to a user and demonstrated as a master-slave system. For the tactile surface of the digit, contrasting sensor elements of resistive strain gauges and optical fibre Bragg grating sensors were evaluated. A distributive tactile sensing system consisting of optimised neural networking schemes was developed, resulting in taxonomy of artificial touch. The device is suitable for use in minimal invasive surgical (MIS) procedures as a steerable tip and a digit constructed wholly from polymers makes it suitable for use in Magnetic Resonance Imaging (MRI) environments enabling active monitoring of the patient during a procedure. To provide a realistic template of the work the research responded to the needs of two contrasting procedures: palpation of the prostate and endotracheal intubation in anaesthesia where the application of touch sense can significantly assist navigation. The performance of the approach was demonstrated with an experimental digit constructed for use in the laboratory in phantom trials. The phantom unit was developed to resemble facets of the clinical applications and digit system is able to evaluate reactive force distributions acting over the surface of the digit as well as different descriptions of contact and motion relative to the surface of the lumen. Completing control of the digit is via an instrumented glove, such that the digit actuates in sympathy with finger gesture and tactile information feedback is achieved by a combination of the tactile and visual means.

Contrast integration over area is extensive: a three-stage model of spatial summation

Classical studies of area summation measure contrast detection thresholds as a function of grating diameter. Unfortunately, (i) this approach is compromised by retinal inhomogeneity and (ii) it potentially confounds summation of signal with summation of internal noise. The Swiss cheese stimulus of T. S. Meese and R. J. Summers (2007) and the closely related Battenberg stimulus of T. S. Meese (2010) were designed to avoid these problems by keeping target diameter constant and modulating interdigitated checks of first-order carrier contrast within the stimulus region. This approach has revealed a contrast integration process with greater potency than the classical model of spatial probability summation. Here, we used Swiss cheese stimuli to investigate the spatial limits of contrast integration over a range of carrier frequencies (1–16 c/deg) and raised plaid modulator frequencies (0.25–32 cycles/check). Subthreshold summation for interdigitated carrier pairs remained strong (~4 to 6 dB) up to 4 to 8 cycles/check. Our computational analysis of these results implied linear signal combination (following square-law transduction) over either (i) 12 carrier cycles or more or (ii) 1.27 deg or more. Our model has three stages of summation: short-range summation within linear receptive fields, medium-range integration to compute contrast energy for multiple patches of the image, and long-range pooling of the contrast integrators by probability summation. Our analysis legitimizes the inclusion of widespread integration of signal (and noise) within hierarchical image processing models. It also confirms the individual differences in the spatial extent of integration that emerge from our approach.

Exploitation of multilayer coatings for infrared surface plasmon resonance fiber sensors

We demonstrate surface plasmon resonance (SPR) fiber devices based upon ultraviolet inscription of a grating-type structure into both single-layered and multilayered thin films deposited on the flat side of a lapped D-shaped fiber. The single-layered devices were fabricated from germanium, while the multilayered ones comprised layers of germanium, silica, and silver. Some of the devices operated in air with high coupling efficiency in excess of 40 dB and an estimated index sensitivity of Delta lambda/Delta n = 90 mn from 1 to 1.15 index range, while others provided an index sensitivity of Delta lambda/Delta n = 6790 mn for refractive indices from 1.33 to 1.37. (C) 2009 Optical Society of America

Multilayered coated infra-red surface plasmon resonance fibre sensors for aqueous chemical sensing

A series of surface plasmonic fibre devices were fabricated by depositing multiple thin coatings on a lapped section of a standard single mode telecoms fibre forming a D-shaped section and then inscribing a grating-type structure using UV light. The coatings consisted of base coatings of semi-conductor (germanium) and dielectric (silicon dioxide) materials, followed by different metals. These fibre devices showed high spectral refractive index sensitivity with high coupling efficiency in excess of 40 dB for indices in the aqueous regime and below, with estimated index sensitivities of Lambda lambda/Lambda n = 90-800 nm from 1 to 1.15 index range and Lambda lambda/Lambda n = 1200-4000 nm for refractive indices from 1.33 to 1.39. (C) 2009 Elsevier Inc. All rights reserved.

Optical activity in photorefractive Bi12TiO20

The influence of optical activity on two-wave mixing (TWM) in photorefractive BTO and BSO crystals in the absence of an applied field is studied both theoretically and experimentally. For the conventinal orientations of the grating vector, K [001] and K[001], the piezoelectric and photoelastic effects are either zero or negligible. This makes an analytical treatment of the TWM problem possible. We obtain an analytical solution for the coupled wave equations of TWM valid for arbitrary optical activity. This result is of special importance for BTO crystals. In these crystals under the condition of maximum energy transfer (|K|rD=1, where rD is the Debye radius) neither the approximation of small optical activity nor the one of dominating optical activity is applicable and our analytical solution becomes essential. Our experimental setup uses beams with a trapezoidal overlap that allows us to study the thickness-dependence of the gain in a single measurement. Experimental and theoretical results for a BTO crystal are compared with those for a BSO crystal and are explained in the framework of the model used.

Theoretical study of Talbot-like bands observed using a laser diode below threshold

We report on a theoretical study of an interferometric system in which half of a collimated beam from a broadband optical source is intercepted by a glass slide, the whole beam subsequently being incident on a diffraction grating and the resulting spectrum being viewed using a linear CCD array. Using Fourier theory, we derive the expression of the intensity distribution across the CCD array. This expression is then examined for non-cavity and cavity sources for different cases determined by the direction from which the slide is inserted into the beam and the source bandwidth. The theoretical model shows that the narrower the source linewidth, the higher the deviation of the Talbot bands' visibility (as it is dependent on the path imbalance) from the previously known triangular shape. When the source is a laser diode below threshold, the structure of the CCD signal spectrum is very complex. The number of components present simultaneously increases with the number of grating lines and decreases with the laser cavity length. The model also predicts the appearance of bands in situations not usually associated with Talbot bands.

Influence of beam-coupling on photorefractive parametric oscillation in a dc-field-biased Bi12SiO20 crystal

The influence of beam coupling on photorefractive parametric oscillation generated in a Bi12SiO20 crystal is investigated experimentally by comparing two configurations with and without the presence of beam coupling. It is shown that beam coupling has a great influence; for example, the transversal split of the K/2 subharmonic grating is seen only in the beam-coupling geometry. A case that resembles K/4 subharmonic generation can, however, still be found in the absence of beam coupling.

Excitation of higher harmonic gratings in AC-field biased photorefractive crystals

We analyze the nonlinear excitation of holographic gratings in a photorefractive crystal being subject to an alternating electric field and a stationary light interference pattern. The influence of the higher harmonics on the fundamental grating is illustrated for the case where a crystal of Bi12SiO20 is the recording medium. We analyze both the steady state and the transient consequences of the higher harmonic excitation.

Investigation of two-wave mixing in arbitrary oriented sillenite crystals

A generalized systematic description of the Two-Wave Mixing (TWM) process in sillenite crystals allowing for arbitrary orientation of the grating vector is presented. An analytical expression for the TWM gain is obtained for the special case of plane waves in a thin crystal (|g|d«1) with large optical activity (|g|/?«1, g is the coupling constant, ? the rotatory power, d the crystal thickness). Using a two-dimensional formulation the scope of the nonlinear equations describing TWM can be extended to finite beams in arbitrary geometries and to any crystal parameters. Two promising applications of this formulation are proposed. The polarization dependence of the TWM gain is used for the flattening of Gaussian beam profiles without expanding them. The dependence of the TWM gain on the interaction length is used for the determination of the crystal orientation. Experiments carried out on Bi12GeO20 crystals of a non-standard cut are in good agreement with the results of modelling.

Talbot-like bands for a laser diode below threshold

We report on the problems encountered when replacing a tungsten filament lamp with a laser diode in a set-up for displaying Talbot bands using a diffraction grating. It is shown that the band pattern is rather complex and strong interference signals may exist in situations where Talbot bands are not normally expected to appear. In these situations, the period of the bands increases with the optical path difference (OPD). The visibility of bands as dependence on path imbalance is obtained by suitably obstructing halfway into the arms of a Michelson interferometer using opaque screens.

Simultaneous measurement of strain and temperature using the first- and second-order diffraction wavelengths of Bragg gratings

A method of discriminating between temperature and strain effects in fibre sensing using a conventionally written, in-fibre Bragg grating is presented. The technique uses wavelength information from the first and second diffraction orders of the grating element to determine the wavelength dependent strain and temperature coefficients, from which independent temperature and strain measurements can be made. The authors present results that validate this matrix inversion technique and quantify the strain and temperature errors which can arise for a given uncertainty in the measurement of the reflected wavelength.

Low frequency peculiarities of the photorefractive response in sillenites

We investigate experimentally and theoretically the dependence of the amplitude of the spatial fundamental grating, created by a pair of coherent light beams while using the running grating technique [M.P. Petrov, S.I. Stepanov and A.V. Khomenko, Photorefractive Crystals in Coherent Optical Systems, Springer Series in Optical Sciences (Springer, 1991); P. Refregier, L. Solymar, H. Rajbenbach and J.P. Huignard, J. Appl. Phys. 58 (1985) 45], as a function of detuning frequency and beam ratio ß in photorefractive Bi12SiO20. It is shown that for ß > 0.05, in addition to the main peak in the frequency dependence of the amplitude, there is an additional peak of lower frequency which, as a rule, dominates the main peak. The position of the main peak depends on ß. The experimental results are in good agreement with the theoretical analysis and the general ideas about excitation and nonlinear interaction of weakly damped space-charge waves.

Verification of the standard model of the photorefractive nonlinearity in BSO crystals

On the basis of the standard model for the photorefractive nonlinearity we investigate whether a systematic description of the dependence of two-beam energy exchange on beam polarization and grating vector K is possible. Our result is that there is good agreement between theory and experiment with respect to the polarization properties and semi-quantitative agreement with respect to the K-dependence of the energy exchange.

Exact solution of the Bragg-diffraction problem in sillenites

A method for the exact solution of the Bragg-difrraction problem for a photorefractive grating in sillenite crystals based on Pauli matrices is proposed. For the two main optical configurations explicit analytical expressions are found for the diffraction efficiency and the polarization of the scattered wave. The exact solution is applied to a detailed analysis of a number of particular cases. For the known limiting cases there is agreement with the published results.

Channeled spectrum display using a CCD array for student laboratory demonstrations

The channelled spectrum of an optical beam generated by a laser diode operated below threshold after traversing microscope glass plates is spectrally analysed using a grating and a CCD linear array. The experiment has the following goals: to display the resulting channelled spectrum, to familiarize students with an important topic in metrology and to illustrate some interesting topics from spectroscopy using a CCD array as a spectrometer.