MUSTAFA ÜNEL Professor Sabanci University Faculty of Engineering and Natural Sciences Program Coordinator, Mechatronics Engineering Faculty Member, Manufacturing Engineering Director of Control, Vision and Robotics (CVR) Research Lab Senior Researcher at SU-IMC E-mail: munel@sabanciuniv.edu Phone: +90-216-483 9549

Research Interests · Robotics · Computer Vision · Machine/Deep Learning · Dynamical Systems and Control Education · PhD in Electrical Sciences and Computer Engineering, Brown University, Providence, RI, USA, 1999 · MS in Applied Mathematics, Brown University, Providence, RI, USA, 1998 · MS in Systems and Control Engineering, Bogazici University, Istanbul, Turkey, 1996 · BS in Electrical and Electronics Engineering, Bogazici University, Istanbul, Turkey 1994 Work Experience · Program Coordinator, Mechatronics Engineering, Sabanci University, Faculty of Engineering and Natural Sciences, 2024- … · Member of the University Executive Council, Sabanci University, 2020- … · Senior Researcher, Sabanci University, Integrated Manufacturing Technologies Research and Application Center (SU-IMC), 2016- … · Program Coordinator, Mechatronics Engineering, Sabanci University, Faculty of Engineering and Natural Sciences, 2016-2019 · Professor, Sabanci University, Faculty of Engineering and Natural Sciences, 2011- … · Associate Professor, Sabanci University, Faculty of Engineering and Natural Sciences, 2005-2011 · Assistant Professor, Sabanci University, Faculty of Engineering and Natural Sciences, 2004-2005 · Assistant Professor, Gebze Institute of Technology, Department of Computer Engineering, 2001-2004 · Postdoctoral Research Associate, Yale University, Center for Computational Vision and Control, New Haven, CT, USA, 1999 – 2001 · Postdoctoral Research Associate, Brown University, Laboratory for Engineering Man-Machine Systems, Providence, RI, USA, 1999 - 2001 Projects · “System Health/Anomaly Prediction Based on Connected Vehicle Data”, Ford Otosan, 2022-2024, Role: PI · “Havacılık/Uzay Uygulamaları için Otomatik Fiber Serme Yöntemi ile Tasarım, Üretim, Kalite Kontrol Yöntemlerinin Geliştirilmesi ve Geliştirilen Yöntemlerin Doğrulanması”, TUBITAK 1003, Project No. 118M859, 2020-2023, Role: Researcher · “Construction Site Autonomy”, Ford Otosan, 2020-2022, Role: PI · “Sabancı Üniversitesi - Ford Otomotiv Sanayi A.Ş. Yapay Zeka Alanında Doktoralı Personel Yetiştirme Projesi”, TUBITAK 2244, Project No. 118C061, 2019-2025, Role: PI · “Development of Position and Orientation Tracking System and Vibration Suppression System for Robotic Machining”, TUBITAK 1003, Project No. 217M078, 2018-2021, Role: Advisor · “Makina Öğrenme Algoritmalarının Otomotiv Kontrol Uygulamalarında Kullanımı”, Ford Otosan, 2018-2019, Role: PI · “Computer Vision and Control Systems for Autonomous Driving”, Ford Otosan, 2018-2019, Role: PI · “Havza Bilgi Sistemi Geliştirilmesi”, TUBITAK 1003, Project No. 115Y008, 2016-2019, Role: Researcher · “Airpath Control Methods for Diesel Engines”, Ford Otosan, 2015-2018, Role: PI · “System Identification Methods for Optimizing Diesel Engine Calibration Process, Ford Otosan, 2014-2018, Role: PI · “Hidrodinamik Kavitasyona Dayanan Medikal Uygulamalar İçin Kullanılacak Ulusal Endoskopik Cihaz Tasarımı ve Geliştirilmesi”, TUBITAK 1003, Project No. 113S092, 2013-2016, Role: Researcher · “National Wind Energy Systems Project: Design, Development and Prototype Testing of Novel Turbine Systems,” Energy Ministry of Turkey and TUBITAK, Project No. 110G010, 2011-2013, Role: Researcher · “Mechanical Design, Prototyping and Flight Control of an Unmanned Autonomous Aerial Vehicle,” TUBITAK-107M179, 2007-2010, Role: PI · “Bilateral Control Systems with Time Delay Compensation,” TUBITAK/NSF International Project-106M533, 2008-2010, Role: PI · “Novel Approaches in Audio-Visual Speech Recognition,” TUBITAK-107E015, 2007-2010, Role: Researcher · “Integrated Visual Servoing and Force Approach to Micro-Object Manipulation,” SU Internal Grant- IACF06-00417, 2006-2008, Role: PI · “Design, Construction and Control of Biped Humanoid Robot,” TUBITAK-106E040, 2007-2009, Role: Researcher · “Open Structure Microassembly Workstation,” Agency: DPT/GYTE-EACF05-00268, 2005-2007, Role: Researcher · “Reverse Engineering and Modeling of Superalloy Gas Turbine Blades,” Agency: TUBITAK-MAM (TUBITAK Marmara Research Center), EACF04-00269, 2004-2006, Role: Co-PI. · “Automatic Recognition of Handwritten Texts and Signatures,” Gebze Institute of Technology Internal Grant: BAP-2003A23, 2003-2004, Role: PI · “Coordinated Motion of Natural and Man-Made Groups,” NSF, Grant No. 9980058, 1999-2001, Yale University, Role: Postdoctoral Researcher · “Reactive Switching Strategies for the Control of Uninhabited Air Vehicles,” DARPA-SEC project, 1999-2001, Yale University, Role: Postdoctoral Researcher · “New Algebraic Methods for Simplifying the Design and Measurement of Sculptured Shapes,” NSF, Grant No. 9820804, 1999-2001, Brown University, Role: Postdoctoral Researcher · “A New Implicit Polynomial Technology for Advanced Manufacturing,” NSF International Grant, Grant No. 9731598, 1998-2001, Brown University, Role: Researcher Teaching Undergraduate Courses ENS206: Systems Modeling and Control ME303: Control Systems Design ME425: Autonomous Mobile Robotics ME403: Introduction to Robotics EE417: Computer Vision ENS 409: Numerical Analysis Graduate Courses EE524: Digital Control EE528: Nonlinear Control Systems EE529: Vision-Based Control EE569: 3D Vision EE571: Linear Systems EE629: Geometric Modeling EE672: System Identification ME525: Autonomous Mobile Robotics Graduate Students · Abdullah Hassoon Younus Alhassoon (MS) · Arefeh Ahmadi (MS) · Barış Almaç (PhD) · Burak Uzunoğlu (MS) · Kimia Amini (PhD) · Omar Alaksh (MS) · Mohamed Abdelrahim (MS) · Osman Bozdağ (MS) Thesis Supervision PhD Theses 1. Localization, Trajectory Prediction and Planning for Autonomous Vehicles Using Hybrid Attention Mechanisms and Transformer Neural Networks Asmaa Loulou, PhD Thesis, Sabanci University, June 2026 2. A Learning-Centric End-to-End Hybrid System for In-situ Thermographic Inspection in Automated Fiber Placement Muhammed Zemzemoğlu, PhD Thesis, Sabanci University, July 2025 3. Anomaly Detection and Root-Cause Determination for Automotive Applications Using Deep Learning and XAI Models Mehmet Emin Mumcuoğlu, PhD Thesis, Sabanci University, July 2025 4. Developing Data-Driven Models for Anomaly Detection in Automotive and Additive Manufacturing Applications Shawqi Mohammed Farea, PhD Thesis, Sabanci University, July 2025 5. Lidar-Based Ground Plane Estimation, Hybrid Visual-Lidar Odometry and Navigation of Autonomous Trucks Eren Aydemir, PhD Thesis, Sabanci University, December 2024 6. Developing Learning Algorithms for Enhancing Industrial Machine Vision Systems and Improving Task Accuracy of Robotic Manipulators Diyar Khalis Bilal, PhD Thesis, Sabanci University, June 2021 7. Robust Hovering and Trajectory Tracking Control of a Quadrotor Helicopter Using Acceleration Feedback and a Novel Disturbance Observer Hammad Zaki, PhD Thesis, Sabanci University, July 2019 8. Flexible and Robust Control of Heavy-Duty Diesel Engine Airpath Using Data-Driven Disturbance Observers and GPR Models Volkan Aran, PhD Thesis, Sabanci University, July 2019 9. Data-Driven Nonlinear Dynamic Models for Predicting Heavy-Duty Diesel Engine Torque and Combustion Emissions Gökhan Alcan, PhD Thesis, Sabanci University, July 2019 10. Stabilization and Tracking Control of Pan-Tilt Platforms Using Novel Estimators and Acceleration Based Robust Control Techniques Sanem Evren, PhD Thesis, Sabanci University, July 2017 11. Design, Construction and Flight Control of a Quad Tilt-Wing Unmanned Aerial Vehicle Ertuğrul Çetinsoy, PhD Thesis, Sabancı University, August 2010 MS Theses 1. Deformable Formation Control for Multi-Robot Systems in Dynamic Environments Using Elliptic Fourier Descriptors and Dynamic Parabolic CBF Omar Sabra Kaek, MS Thesis, Sabancı University, June 2026 2. Multi-Dataset Label Space Unification for Off-Road Autonomous Driving Using Large Language Models Feyza Teker, MS Thesis, Sabancı University, June 2026 3. A Computationally Effficient Real-Time Vision-Based Human Tracking Framework for Overhead UAVs Abdul Moati Diab, MS Thesis, Sabancı University, June 2026 4. Deep Reinforcement Learning-Based Hybrid Goal-Assigned Multi-Agent Path Planning in Dynamic Environments Barış Almaç, MS Thesis, Sabancı University, December 2025 5. Classical and Learning-Based Multi-Goal Ordering and Path Planning for Mobile Robots Abdullah Alluş, MS Thesis, Sabancı University, July 2025 6. A Novel Approach to the Rendezvous Problem for Aerial Refueling of Multi-UAV Systems Ahmet Faruk Günalp, MS Thesis, Sabancı University, June 2025 7. Lane-Keeping System with Adaptive Model Predictive Control using Online Dynamic Mode Decomposition Okan Ertürk, MS Thesis, Sabanci University, December 2024 8. Robust Controller Design for a Fixed-Wing UAV Using Active Disturbance Cancellation Nadeen Hashem, MS Thesis, Sabancı University, December 2023. 9. Vision-Based Navigation of Heterogeneous Robot Systems Selim Ahmet İz, MS Thesis, Sabancı University, December 2022 10. Optimization Based Visual-Inertial SLAM and Odometry Systems in GPS-Denied Environments Fatih Mehmet Demirel, MS Thesis, Sabancı University, December 2021 11. Vision-Based Localization and Control of UGVs Using a UAV Farjad Zafar, MS Thesis, Sabancı University, December 2021 12. Fault-Tolerant Control of a Quadrotor Helicopter Yarkın Hocaoğlu, MS Thesis, Sabancı University, July 2021 13. A Novel Coordination Framework for Multi-Robot Systems Mohammad Taleb Zamzam, MS Thesis, Sabancı University, July 2019 14. Driving Behavior Classification for Heavy-Duty Vehicles Using LSTM Networks Mehmet Emin Mumcuoğlu, MS Thesis, Sabancı University, July 2019 15. Modeling and Nonlinear Adaptive Control of an Aerial Manipulation System Emre Yılmaz, MS Thesis, Sabancı University, July 2019 16. Improving Human Action Recognition Using Decision Level Fusion of Classifiers Trained with Depth and Intertial Data Zain Fuad, MS Thesis, Sabancı University, 2018 17. An ANN Based Combined Classifier Approach for Facial Emotion Recognition Ekin Yağış, MS Thesis, Sabancı University, 2018 18. Angular Motion Estimation and Its Application to the Stabilization of a Ballbot Fırat Yavuz, MS Thesis, Sabancı University, 2016 19. Novel Vision Based Estimation Techniques for the Analysis of Cavitation Bubbles Gökhan Alcan, MS Thesis, Sabancı University, 2015 20. Nonlinear Hierarchical Adaptive Control of a Quad Tilt-Wing UAV Ahmet Eren Demirel, MS Thesis, Sabancı University, 2015 21. Human Action Recognition Using 3D Joint Information and Pyramidal HOOFD Features Barış Can Üstündağ, MS Thesis, Sabancı University, 2014 22. Fast and Accurate Mosaicing Techniques for Aerial Images of Quasi-Planar Scenes Alper Yıldırım, MS Thesis, Sabancı University, 2014 23. Visualization and Image Based Characterization of Hydrodynamic Cavity Bubbles for Kidney Stone Treatment Doğan Üzüşen, MS Thesis, Sabancı University, 2014 24. Developing Object Detection, Tracking and Image Mosaicing Algorithms for Visual Surveillance Taygun Kekeç, MS Thesis, Sabancı University, 2013 25. Metric and Appearance Based Visual SLAM for Mobile Robots Caner Şahin, MS Thesis, Sabancı University, 2013 26. A New Coordination Framework for Multi-UAV Formation Control Mehmet Ali Güney, MS Thesis, Sabancı University, 2013 27. UAV Based Group Coordination of UGVs Soner Ulun, MS Thesis, Sabancı University, 2013 28. Modeling, Control and Simulation of a Prototype Wind Turbine Using S4WT Sanem Evren, MS Thesis, Sabancı University, 2012 29. Nonlinear Control of a Quad Tilt-Wing UAV Serhat Dikyar, MS Thesis, Sabancı University, 2011 30. An Observer Based Approach to Force Reflecting Bilateral Teleoperation Duruhan Özçelik, MS Thesis, Sabancı University, 2011 31. Development of an Automated Sanding System Fatih Mutluel, MS Thesis (LFI Program), Sabancı University, 2011 32. Composite Prototyping and Vision Based Hierarchical Control of a Quad Tilt-Wing UAV Efe Sırımoğlu, MS Thesis, Sabancı University, 2010 33. Delay Compensation in Bilateral Teleoperation Using Predictor Observers Tuğba Leblebici, MS Thesis, Sabancı University, 2010 34. GPS Based Position Control and Waypoint Navigation of a Quad Tilt-Wing UAV Cevdet Hançer, MS Thesis, Sabancı University, 2010 35. Modeling and Control of a New Unmanned Aerial Vehicle (SUAVI) with Tilt-Wing Mechanism Kaan Taha Öner, MS Thesis, Sabancı University, 2009 36. Motion Estimation of Planar Curves and Their Alignment Using Visual Servoing Ahmet Yasin Yazıcıoğlu, MS Thesis, Sabancı University, 2009 37. Statistical Facial Feature Extraction and Lip Segmentation Mustafa Berkay Yılmaz, MS Thesis, Sabancı University, 2009 (Co-Supervisor) 38. Novel Estimation and Control Techniques in Micromanipulation Using Vision and Force Feedback Hakan Bilen, MS Thesis, Sabancı University, 2008 39. 3D Reconstruction, Classification and Mechanical Characterization of Microstructures Muhammet Ali Hocaoğlu, MS Thesis, Sabancı University, 2008 40. Formation Control of Multiple Mobile Robots Using Parametric and Implicit Representations Yeşim Hümay Esin, MS Thesis, Sabancı University, 2008 41. Visually Aided Force Control with Fuzzy Parameter Tuning Berk Çallı, MS Thesis, Sabancı University, 2008 (Co-Supervisor) 42. Model Free Visual Servoing in Macro and Micro Domain Robotic Applications Erol Özgür, MS Thesis, Sabancı University, 2007 43. Automation of Relaxation-Retraction Measurement Zeynel Abidin Fincan, MS Thesis (LFI Program), Sabanci University, 2007 44. Design and Implementation of a Vision System for Microassembly Workstation Eray Doğan, MS Thesis, Sabancı University, 2006 45. Modeling and Control of the Coordinated Motion of a Group of Autonomous Mobile Robots Nusrettin Güleç, MS Thesis, Sabancı University, 2005 46. A Sliding Mode Approach to Visual Motion Estimation Burak Yılmaz, MS Thesis, Sabancı University, 2005 (Co-Supervisor) 47. Different Approaches on the Implementation of Implicit Polynomials in Visual Tracking Burak Kemal Yöndem, MS Thesis, Sabancı University, 2005 (Co-Supervisor) 48. Affine Invariant Normalization and Modeling of 2D/3D Objects Using EFD Based Implicit Polynomials Sait Şener, MS Thesis, Gebze Institute of Technology, 2004 49. Character Recognition Using Closed-Bounded Algebraic Curves Sema Candemir, MS Thesis, Gebze Institute of Technology, 2004 50. Decomposition of Implicit Polynomial Equations for Object Recognition and Comparison Ömer Kayaaltı, MS Thesis, Gebze Institute of Technology, 2003 51. Determination of Affine Invariants of 2D Objects and Application to Object Recognition Osman Kurt, MS Thesis, Gebze Institute of Technology, 2003  Graduation Project Supervision 1. Indoor Localization Using Camera Images, A. E. Aktaş, M. M. Gökbayrak, June 2024 2. Indoor Localization Using Camera Images, K. Kağanoğlu, Y. A. Akyosun, June 2024 3. Outdoor Localization Using Sensor Fusion, N. Nobari, M. R. Erik, June 2024 4. High Fuel Consumption Detection System for Heavy-Duty Trucks, Y. Gürdamar, Z. Pancar, E. Erten, June 2024 5. High Fuel Consumption Detection System for Heavy-Duty Trucks, B. Yerçizen, E. B. Yiğit, U. Yüce, June 2024 6. High Fuel Consumption Detection System for Heavy-Duty Trucks, B. B. Turan, E. Genç, İ. N. Akçığ, N. Göztepe, June 2024 7. Fuel Consumption Modeling for Route Planning of Heavy-Duty Trucks, M. Abdulrahman, E. Üykü, June 2024 8. Fuel Consumption Modeling for Route Planning of Heavy-Duty Trucks, A. A. Karaman, B. Karaca, June 2024 9. Fuel Consumption Modeling for Route Planning of Heavy-Duty Trucks, A. Deryal, İ. Erdinç, M. Y. Şahin, June 2024 10. Vision Based Self-Localization for Autonomous Vehicles, G. Korkulu, E. Argın, January 2024 11. Estimation of Cycle Time in Transformer Manufacturing Using a Vision-Based Learning Technique, L. Mandari, M. S. Özgen, M. Y. Yalçın, M. A. Zohair, June 2022 12. Highway Lane Following and Lane Change System for Autonomous Driving, Y. Kassem, N. Elhendawi, S. Rehman, June 2022 13. Design and Development of a Visual Inertial SLAM Algorithm for Mobile Robots, A. Yıldırım, U. B. Haberal, N. Süslü, June 2021 14. Landing a Quadcopter in Unknown Terrains Using a Vision-Based Learning Strategy, A. Dural, B. Aybi, A. D. Göktaş, June 2021 15. Deep Neural Network Algorithms for Heavy Duty Truck Applications, A. Örgen, O. İlter, June 2019 16. SLAM Using Visual and Inertial Data, S. İ. Bayraktar, Sabanci University, June 2019 17. Design and Development of Vision Based Localization Algorithms for Automatic Parking, Ş. S. Serbest, M. A. Düzçeker, Sabanci University, June 2018 18. Vision Based Obstacle Detection and Avoidance for Autonomous Vehicles, B. Aksoy, B. Dilekoğlu, Sabanci University, June 2018 19. Driver Fatigue Detection System, N. Hüseyin, H. Çalışkan, Sabanci University, June 2018 20. E-Traction Motor and Controller Design for an All-Electric Urban Transport Vehicle, A. Mahad, E. Ersen, O. Syed, T. Hammad, Sabanci University, June 2018 21. Vision Based Vertical Take-Off and Landing of a Quadrotor onto Ground and Water, B. Yazıcıoğlu, B. C. Kocayan, T. Taşkıran, Sabanci University, June 2017 22. Developing A Wearable Gadget For Improving Basketball Skills, C. Akşit, K. Arkan, İ. D. Gülmez, June 2017 23. Acceleration Control of Stabilized Platforms, M. U. Özcan, S. Doran, Sabanci University, June 2017 24. Design, Construction and Flight Control of a Camera Equipped Quadcopter, Y. M. Kıdil, H. K. Kara, Sabanci University, June 2016 25. Design and Development of a GPS Aided Inertial Navigation System, O. Uzunyayla, Sabanci University, June 2016 26. Kinect Based Position Control of a Nano Quadcopter, H. Buluttekin, A. Gül, Sabanci University, January 2016 27. Optimizing Diesel Engine Calibration Process, E. Ünlü, Ş. Ö. Turan, Sabanci University, June 2015 28. Coordinated Motion of Multiagent Systems, E. Tever, Sabanci University, June 2015 29. Design and Construction of a Small Autonomous Quadrocopter that Performs Aggressive Maneuvers, S. Hanaylı, Sabanci University, June 2013 30. Coordinated Motion of Multiple Autonomous Agents, M. Bucak, Sabancı University, June 2013 31. Implementation of Visual SLAM Algorithms on Mobile Robots, H. Aydoğuş, Sabancı University, June 2013 32. Vision Based Landing of a Quadrocopter, C. Ergenç, Sabancı University, June 2013 33. Control of Wind Energy Systems, A. E. Demirel, Sabancı University, January 2013 34. High Level Control of a UAV Using an Onboard Microcomputer, B. C. Üstündağ, D. Üzüşen, Sabancı University, June 2012 35. ARM Based Microcontrollers for Low-Level Control of Unmanned Aerial Vehicles, H. Kazancı, E. Görgün, Sabancı University, June 2012 36. Developing Graphical User Interface for an Unmanned Aerial Vehicle, G. Yılmaz, Sabancı University, June 2012 37. Vision Based Coordination of Mobile Robots, E. Karadere, M. G. Özer, Ö. Mutlu, Sabancı University, June 2012 38. Design and Prototyping of a Small Sized Quadrotor, C. Karahasonoğlu, O. Gözek, C. Özenel, Sabancı University, June 2011 39. Hierarchical Control of a Quadrotors Using GPS and Vision, O. Y. Çokay, Sabancı University, June 2011 40. Time Delay Compensation in Bilateral Teleoperation, E. Çalışgan, Sabancı University, June 2010 41. Design and Prototyping of a Quadrotor, A. Şahinöz, M. Gülhan, Sabancı University, June 2010 42. Mechanical Design of a Tilt-Wing UAV, O. Aydoğdu, Sabancı University, June 2010 43. Sensor and Actuator Integration of a UAV for Autonomous Flight Control, Y. Tüzel, E. Tanrıverdi, Sabancı University, June 2010 44. Actuator Tests for the Control of a Quadrotor, Ö. R. Kemaloğlu, A. Cezzar, D. H. Aktaş, Sabancı University, June 2010 45. Autonomous Mobile Robots with Vision Sensing, S. Dikyar, F. Mutluel and C. Çakır, Sabancı University, June 2009 46. Modeling and Control of an Unmanned Aerial Vehicle (UAV) with Tilt-Wing Mechanism, T. Ayken, Sabancı University, June 2009 47. Maze Solving Robot, O. O. Eroğlu and İ. H. Altuntaş, Sabancı University, June 2009 48. Wave Based Control of a Toothed Belt System, E. C. Arslan, Sabancı University, January 2009 49. Multi-camera Tracking of Fish in Aquarium, S. Satır, Sabancı University, June 2008 50. Design and Construction of an Experimental Facility for Unmanned Aerial Vehicles, C. Hançer, E. Çalıkoğlu, E. Duman, E. Baran, Sabancı University, June 2008 51. Audio-Visual Speech Recognition, H. Şirin, Sabancı University, June 2007 52. Visual Control of a Direct Drive Robot, F. M. Özkeskin, E. Arslanturk, O. Kurugöl and G. Berkan, Sabancı University, June 2006 53. Ball Cathing Direct Drive SCARA Robot, H. A. Varol, A. F. Tabak, M. Fidanoğlu and U. Tümerdem, Sabancı University, June 2005 54. A Modular Snake Robot with Pneumatic Pistons, M. Degirmenci, G. T. Kursun, İ. K. Gunes, Sabanci University, June 2005 55. A Modular Snake Robot with Pneumatic Cylinders, M. Yilmaz, Y. Kulak, S. Dundar, Sabanci University, June 2005 56. Turbine Blade Reverse Engineering, A. M. Vuruşkan and N. D. Bozgeyik, Sabancı University, June 2005 57. Visual Servoing of Nonholonomic Mobile Robots, C. Şahin, A. M. Oymagil, Sabancı University, June 2005 Publications Ø Edited Books Ø Book Chapters Ø Journal Articles Ø Papers in Conference Proceedings Ø Papers in National Conference Proceedings Ø Theses