Basically, what you have to do is to use a list of all semester available and then calculate the amount for each one:
select s.ID,
s.Semester_Name,
NVL ((select count(*)
from TBL_ASSOCIATE_593932 a
join TBL_BATCH_593932 b
on a.BATCH_ID=b.ID
where s.ID=b.SEMESTER_ID
),0) as Amount
from TBL_SEMESTER_593932 s
another approach would be left joining your list of all semesters and then count
select s.ID,
s.Semester_Name,
count(*) as Amount
from TBL_SEMESTER_593932 s
left join (
TBL_BATCH_593932 b
join TBL_ASSOCIATE_593932 a
on a.BATCH_ID=b.ID)
on s.ID=b.SEMESTER_ID
group by s.ID, s.Semester_Name
order by s.ID
[Edit]: The last query was corrected according to @Mahesha999.