Embedded Ethernet Web Server for a Robot Arm Control

The World Wide Web has provided a strong medium for networked computing with independent platform. As the Internet continues to grow, there will be a practical as well as economical sense to connect number of devices to the Internet. Hence, embedded web servers are needed to access, monitor, and control these devices. This work investigates the issues involved in developing an embedded web server which monitors and controls a number of devices through its re-configurable I/O ports. This thesis also provides detail discussion on the software and hardware aspects of an embedded web server. Site Player embedded server module is used as a base unit in this research. With the PC interface, embedded server module is configured with appropriate I/O control codes as well as user interface. The example application used with the embedded server module is a servodrive robot arm which has four servo motors to control the movements of its base, arm, wrist, and grip. Further integration and greater capability of web-enable devices which are being used in factory automation and home appliances control are discussed as future works of this research

Y2O3 And CaO Zirconia as Reinforcement for Hydroxyapatite Biocomposite

Biokomposit hidroksiapatit diperkuat zirkonia (ZrO2/HAp) telah difabrik untuk menambahbaik kekuatan dan keliatan patah bioseramik HAp tunggal. Y2O3- ZrO2 dan CaO-ZrO2 komersial dipilih sebagai bahan penguat untuk matrik HAp. Sampel ZrO2/HAp telah dihasilkan dengan cara konvensional pemprosesan seramik, iaitu melibatkan pencampuran serbuk, pemadatar dan persinteran. Pemprosesan sampel dimulakan dengan pencampuran atau pengisaran-pencampuran untuk membandingkan kehasilan kedua-dua sistem ini. Hasil sifat fizikal dan mekanikal adalah lebih baik dengan penggunaan cara pengisaran-pencampuran. HAp yang diperkuatkan sebanyak 5 bt% Y2O3-ZrO2 komersial yang seterusnya ditambah dengan berlainan amaun CaF2 amaun (1, 3, 5, 7 and 9 bt%) sebagai pembantu sinter dalam biokomposit ZrO2/HAp. Sampel dipadat dengan mampatan ekapaksi sebanyak 90 MPa. Sampel kemudian disinter pade suhu 1050°C sehingga 1250°C dalam udara selama 5 jam. Semakin tinggi amaun CaF2 digunakan, semakin besar kemungkinan fasa HAp dikekalkan. Kekuatan lentur dan keliatan patah optima dicapai ialah 61.10 MPa dan 1.15 MPa.m1/2 selepas penambahan 3 bt% CaF2 (komposit 5YZH-3CF). Dengan ini, 3 dan 5 bt% CaF2 dipilih sebagai amaun optima. Dalam bahagian kedua, penambahan 5 dan 10 bt% CaO-ZrO2 dalam HAp dibanding dengan Y2O3-ZrO2 dari segi kesan kekuatan dan keliatan. Amaun CaF2 yang terpilih sebelum ini juga ditambah ke biokomposit CaO-ZrO2/HAp. Sifat mekanikal biokomposit CaO-ZrO2/HAp adalah lebih baik daripada optima HAp tunggal, iaitu kekuatan lentur dan ketahanan lentur ialah 54.77 MPa dan 1.33 MPa.m1/2 dengan ketumpatan 3.14 gcm-3. Bahagian terakhir adalah pengujian bioaktiviti biokomposit HAp diperkuat Y2O3 dan CaO-ZrO2. Pembentukan lapisan apatit dijumpai di atas permukaan sampel terpilih menandakan bioserasi dan potensi keupayaan pembentukan tulang. ________________________________________________________________________________________________________________________ Zirconia reinforced hydroxyapatite (ZrO2/HAp) biocomposites were fabricated to improve the strength and fracture toughness of monolithic HAp. Commercial Y2O3- ZrO2 and CaO-ZrO2 were selected as the reinforcement for the HAp matrix. The ZrO2/HAp samples were produced by conventional ceramic processing route. The samples were initially produced by pure mixing as well as milling-mixing system. Better physical and mechanical properties were observed from milling-mixing. 5 wt% of commercial Y2O3-ZrO2 was used to reinforce HAp and various amount of CaF2 (1, 3, 5, 7 and 9 wt%) were added to the ZrO2/HAp biocomposite as sintering aid. Samples were compacted with a uniaxial pressure of 90 MPa. The samples were then sintered from 1050°C to 1250°C for 5 hours. The optimum flexural strength of 61.10 MPa and fracture toughness of 1.15 MPa.m1/2 was achieved by 3 wt% of CaF2 addition. From this study, 3 and 5 wt% of CaF2 were selected as optimum addition. Subsequently, 5 and 10 wt% of CaO-ZrO2 were incorporated to HAp to improve the strength and toughness of the HAp as compared with Y2O3-ZrO2 addition. The selected amounts of CaF2 were also added to CaO-ZrO2/HAp biocomposites. The mechanical properties of CaO-ZrO2/HAp biocomposite were found to be better than the optimum properties of monolithic HAp. The biocomposite achieved better flexural strength of 54.77 MPa with higher density 3.14 gcm-3 and fracture toughness of 1.33 MPa.m1/2. The bioactivity test on both Y2O3 and CaO-ZrO2 reinforced HAp biocomposites revealed the formation of apatite layer on the surfaces, indicating the biocompatibility and potential bone forming ability

Learning a Disentangled Embedding for Monocular 3D Shape Retrieval and Pose Estimation

We propose a novel approach to jointly perform 3D shape retrieval and pose estimation from monocular images.In order to make the method robust to real-world image variations, e.g. complex textures and backgrounds, we learn an embedding space from 3D data that only includes the relevant information, namely the shape and pose. Our approach explicitly disentangles a shape vector and a pose vector, which alleviates both pose bias for 3D shape retrieval and categorical bias for pose estimation. We then train a CNN to map the images to this embedding space, and then retrieve the closest 3D shape from the database and estimate the 6D pose of the object. Our method achieves 10.3 median error for pose estimation and 0.592 top-1-accuracy for category agnostic 3D object retrieval on the Pascal3D+ dataset, outperforming the previous state-of-the-art methods on both tasks