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This paper presents a new haptic bilateral control method with vision-based guidance. The vision-based guidance is realized by the visual force compliance controller which can translate the visual information to assistive force. Integration of an imaging modality effectively further consolidates the servoing procedures. Such information needs to be efficiently rendered to the operator at master system. Particularly, the proposed approach provides real-time visualization and force feedback based guidance for the navigation task. The details concerning the method of implementation of this theory will be explained. Finally, the experimental evaluation of the functionality of this visual compliance controller based on force control is described and discussed.

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This paper proposes a force-based compliance control method utilizing visual information that can be integrated with a haptic system for motion navigation tasks. The force generated on the basis of useful image information of the tracked object is utilized to provide a response to the bilateral control system. An eye-to-hand approach is used to magnify the information from the vision sensor. The control strategy, image processing method, and integration techniques are elaborated upon in detail. Four experiments were conducted using different distances between the camera and object to validate the proposed integration method. The effectiveness of the proposed method was evaluated through a comparison with the conventional bilateral control method.

This paper presents a technique for a robust tracking of the target object by integration of the vision-based disturbance observer with bilateral haptic system. As for the motion navigation task, the bilateral control of master-slave system is combined with the vision-based force compliance controller. The disturbance of the modelling error that occurs in the integration of the system will be compensated by the proposed vision-based disturbance observer. The concept of control structure between the integration of bilateral manipulator, vision-based force compliance controller and the proposed visionbased disturbance observer are described. Two experiments were conducted to compare the result of without and with the proposed integration method. From the experimental results, the robustness of the proposed system is confirmed.

This paper addresses a solution for solving the object's rotational effect during the navigation process by the haptic bilateral control system. The system utilizes the visionbased guidance which depends on the virtual force generated by the vision-based force compliance controller (VFCC). During object's navigation, the virtual force is generated and affected to the manipulator's horizontal trajectory movement. In this paper, the different rotational angle of an object's trajectory which reflects to different movement direction of produced force, will be studied and evaluated. The details concerning the implementation of this method will be discussed. Two sets of experiments are conducted to evaluate the effectiveness of the proposed technique.

Abstract. Bilateral master-slave industrial robotic arm manipulator system is an advanced technology used to help human to interact with environments that are unreachable to human, due to its remoteness or perilous. The system has been used in different areas such as tele-surgery, autonomous tele-operation for sea and space operation and handling explosive or high radiation operation fields. It is beneficial both for science and society. Remarkably, the system is not common and generally used in Malaysia. Likewise, the number of research conducted that focused about this technology in our country manufacturing industry are not yet discovered and existent. The implementation of this bilateral manipulator system in an industrial robot could be useful for industrial imminent and development over our country and people, specifically for production yield size and human operative. Hence, the study of bilateral robotic arm manipulator system in an industrial robot and analyzation of its performance and time delay in 3 differ controllers will be discussed to attest the efficiency and its effectiveness on the said design system. The experiment conducted was on KUKA youBot arm in V-Rep simulation with three different controllers (P, PD,PID).

This paper presents the development of fish length measurement system to obtain the fish length effectively without any contact to the fish. The device which are small and portable, consists of a USB camera that will be connected to a computer for image capturing. A range sensor is combined with the USB camera to detect and fix the image capturing distance. A microcontroller will be the control circuit for the range sensor and LED indication light will be used to allocate the device at the right distance from the fish that it measures. Image processing software, Halcon will be used to analyze and calibrate the fish image for length measurement. Mathematical equations or algorithms are introduced in the image processing software to obtain the actual fish length from the image. The actual fish length from the calculation will be illustrated in the image processing software itself. The experimental results confirms the effectiveness of the proposed system.