In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.

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Phase Diffraction (PD) 1 which is a result of the interaction of light waves with a transparent object, is exploited to characterize precisely optical properties of dielectric films coated on the optical fiber without harming any feature of the sample. Typical fiber sensor applications require films coated on the side surface of the optical fiber and optical properties of that curved films are crucial for design purposes. In this study, three Polyvinyl Alcohol (PVA) films are prepared, their thicknesses are estimated based on the phase diffraction method by fitting experimental results with a mathematical model within 2.3% error. The outcomes of this practical method show good agreement with findings of the destructive Scanning Electron Microscopy (SEM) measurements. The method has the potential to allow real time monitoring abrupt changes of surrounding medium's properties and to examine coating quality (i.e. thickness uniformity) of the film.