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MUSTAFA ÜNEL

 

Professor

Sabanci University

Faculty of Engineering and Natural Sciences

Faculty Member, 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

 

 

 

 

Dr. Ünel has been working on various problems in the automotive, aerospace, defense, and manufacturing areas. Applications include, but are not limited to, autonomous driving, predictive maintenance, motion/gait analysis, UAVs, structural health monitoring (SHM), visual servoing, and robotic manufacturing.

 

Research Interests

·       Robotics

·       Computer Vision

·       Machine/Deep Learning

·       Dynamical Systems and Control

·       Data-Driven 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

·       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, 2019-2023, 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: Leader of the System Modeling Group

 

·       “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 Hand Written 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

ENS 409: Numerical Analysis

EE417: Computer Vision

ME303: Control Systems Design

ME403: Introduction to Robotics

ME425: Autonomous Mobile Robotics

 

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

 

·       Asmaa Loulou (PhD)

·       Eren Aydemir (PhD)

·       Mehmet Emin Mumcuoğlu (PhD)

·       Muhammed Zemzemoğlu (PhD)

·       Naida Fetic (PhD)

·       Shawqi Mohammed Farea (PhD)

·       Barış Almaç (MS)

·       Feyza Teker (MS)

·       Okan Ertürk (MS)

·       Ahmet Faruk Günalp (MS)

 

Thesis Supervision

 

PhD Theses

 

1.     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

 

2.     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

 

3.     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

 

4.     Data-Driven Nonlinear Dynamic Models for Predicting Heavy-Duty Diesel Engine Torque and Combustion Emissions

Gökhan Alcan, PhD Thesis, Sabanci University, July 2019

 

5.     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

 

6.     Design, Construction and Flight Control of a Quad Tilt-Wing Unmanned Aerial Vehicle

Ertuğrul Çetinsoy, PhD Thesis, Sabancı University, August 2010

 

MS Theses

 

1.     Robust Controller Design for a Fixed-Wing UAV Using Active Disturbance Cancellation

Nadeen Hashem, MS Thesis, Sabancı University, December 2023.

 

2.     Vision-Based Navigation of Heterogeneous Robot Systems

Selim Ahmet İz, MS Thesis, Sabancı University, December 2022

 

3.     Optimization Based Visual-Inertial SLAM and Odometry Systems in GPS-Denied Environments

Fatih Mehmet Demirel, MS Thesis, Sabanci University, December 2021

 

4.     Vision-Based Localization and Control of UGVs Using a UAV

Farjad Zafar, MS Thesis, Sabanci University, December 2021

 

5.     Fault-Tolerant Control of a Quadrotor Helicopter

Yarkın Hocaoğlu, MS Thesis, Sabanci University, July 2021

 

6.     A Novel Coordination Framework for Multi-Robot Systems

Mohammad Taleb Zamzam, MS Thesis, Sabanci University, July 2019

 

7.     Driving Behavior Classification for Heavy-Duty Vehicles Using LSTM Networks

Mehmet Emin Mumcuoğlu, MS Thesis, Sabanci University, July 2019

 

8.     Modeling and Nonlinear Adaptive Control of an Aerial Manipulation System

Emre Yılmaz, MS Thesis, Sabanci University, July 2019

 

9.     Improving Human Action Recognition Using Decision Level Fusion of Classifiers Trained with Depth and Intertial Data

Zain Fuad, MS Thesis, Sabanci University, 2018

 

10.  An ANN Based Combined Classifier Approach for Facial Emotion Recognition

Ekin Yağış, MS Thesis, Sabanci University, 2018

 

11.  Angular Motion Estimation and Its Application to the Stabilization of a Ballbot

Fırat Yavuz, MS Thesis, Sabanci University, 2016

 

12.  Novel Vision Based Estimation Techniques for the Analysis of Cavitation Bubbles

Gökhan Alcan, MS Thesis, Sabanci University, 2015

 

13.  Nonlinear Hierarchical Adaptive Control of a Quad Tilt-Wing UAV

Ahmet Eren Demirel, MS Thesis, Sabanci University, 2015

 

14.  Human Action Recognition Using 3D Joint Information and Pyramidal HOOFD Features

Barış Can Üstündağ, MS Thesis, Sabanci University, 2014

 

15.  Fast and Accurate Mosaicing Techniques for Aerial Images of Quasi-Planar Scenes

Alper Yıldırım, MS Thesis, Sabanci University, 2014

 

16.  Visualization and Image Based Characterization of Hydrodynamic Cavity Bubbles for Kidney Stone Treatment

Doğan Üzüşen, MS Thesis, Sabanci University, 2014

 

17.  Developing Object Detection, Tracking and Image Mosaicing Algorithms for Visual Surveillance

Taygun Kekeç, MS Thesis, Sabanci University, 2013

 

18.  Metric and Appearance Based Visual SLAM for Mobile Robots

Caner Şahin, MS Thesis, Sabanci University, 2013

 

19.  A New Coordination Framework for Multi-UAV Formation Control

Mehmet Ali Güney, MS Thesis, Sabanci University, 2013

 

20.  UAV Based Group Coordination of UGVs

Soner Ulun, MS Thesis, Sabancı University, 2013

 

21.  Modeling, Control and Simulation of a Prototype Wind Turbine Using S4WT

Sanem Evren, MS Thesis, Sabancı University, 2012

 

22.  Nonlinear Control of a Quad Tilt-Wing UAV

Serhat Dikyar, MS Thesis, Sabancı University, 2011

 

23.  An Observer Based Approach to Force Reflecting Bilateral Teleoperation

Duruhan Özçelik, MS Thesis, Sabancı University, 2011

 

 

 

24.  Development of an Automated Sanding System

Fatih Mutluel, MS Thesis (LFI Program), Sabancı University, 2011

 

25.  Composite Prototyping and Vision Based Hierarchical Control of a Quad Tilt-Wing UAV

Efe Sırımoğlu, MS Thesis, Sabancı University, 2010

 

26.  Delay Compensation in Bilateral Teleoperation Using Predictor Observers

Tuğba Leblebici, MS Thesis, Sabancı University, 2010

 

27.  GPS Based Position Control and Waypoint Navigation of a Quad Tilt-Wing UAV

Cevdet Hançer, MS Thesis, Sabancı University, 2010

 

28.  Modeling and Control of a New Unmanned Aerial Vehicle (SUAVI) with Tilt-Wing Mechanism

Kaan Taha Öner, MS Thesis, Sabancı University, 2009

 

29.  Motion Estimation of Planar Curves and Their Alignment Using Visual Servoing

Ahmet Yasin Yazıcıoğlu, MS Thesis, Sabancı University, 2009

 

30.  Statistical Facial Feature Extraction and Lip Segmentation

Mustafa Berkay Yılmaz, MS Thesis, Sabancı University, 2009 (Co-Supervisor)

 

31.  Novel Estimation and Control Techniques in Micromanipulation Using Vision and Force Feedback

Hakan Bilen, MS Thesis, Sabancı University, 2008

 

32.  3D Reconstruction, Classification and Mechanical Characterization of Microstructures

Muhammet Ali Hocaoğlu, MS Thesis, Sabancı University, 2008

 

33.  Formation Control of Multiple Mobile Robots Using Parametric and Implicit Representations

Yeşim Hümay Esin, MS Thesis, Sabancı University, 2008

 

34.  Visually Aided Force Control with Fuzzy Parameter Tuning

Berk Çallı, MS Thesis, Sabancı University, 2008 (Co-Supervisor)

 

35.  Model Free Visual Servoing in Macro and Micro Domain Robotic Applications

Erol Özgür, MS Thesis, Sabancı University, 2007

 

36.  Automation of Relaxation-Retraction Measurement

Zeynel Abidin Fincan, MS Thesis (LFI Program), Sabanci University, 2007

 

37.  Design and Implementation of a Vision System for Microassembly Workstation

Eray Doğan, MS Thesis, Sabancı University, 2006

 

38.  Modeling and Control of the Coordinated Motion of a Group of Autonomous Mobile Robots

Nusrettin Güleç, MS Thesis, Sabancı University, 2005

 

39.  A Sliding Mode Approach to Visual Motion Estimation

Burak Yılmaz, MS Thesis, Sabancı University, 2005 (Co-Supervisor)

 

40.  Different Approaches on the Implementation of Implicit Polynomials in Visual Tracking

Burak Kemal Yöndem, MS Thesis, Sabancı University, 2005 (Co-Supervisor)

 

41.  Affine Invariant Normalization and Modeling of 2D/3D Objects Using EFD Based Implicit Polynomials

Sait Şener, MS Thesis, Gebze Institute of Technology, 2004

 

42.  Character Recognition Using Closed-Bounded Algebraic Curves

Sema Candemir, MS Thesis, Gebze Institute of Technology, 2004

 

43.  Decomposition of Implicit Polynomial Equations for Object Recognition and Comparison

Ömer Kayaaltı, MS Thesis, Gebze Institute of Technology, 2003

 

44.  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.     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

 

2.     Highway Lane Following and Lane Change System for Autonomous Driving, Y. Kassem, N. Elhendawi, S. Rehman, June 2022

 

3.     Design and Development of a Visual Inertial SLAM Algorithm for Mobile Robots, A. Yıldırım, U. B. Haberal, N. Süslü, June 2021

 

4.     Landing a Quadcopter in Unknown Terrains Using a Vision-Based Learning Strategy, A. Dural, B. Aybi, A. D. Göktaş, June 2021

 

5.     Deep Neural Network Algorithms for Heavy Duty Truck Applications, A. Örgen, O. İlter, June 2019

 

6.     SLAM Using Visual and Inertial Data, S. İ. Bayraktar, Sabanci University, June 2019

 

7.     Design and Development of Vision Based Localization Algorithms for Automatic Parking, Ş. S. Serbest, M. A. Düzçeker, Sabanci University, June 2018

 

8.     Vision Based Obstacle Detection and Avoidance for Autonomous Vehicles, B. Aksoy, B. Dilekoğlu, Sabanci University, June 2018

 

9.     Driver Fatigue Detection System, N. Hüseyin, H. Çalışkan, Sabanci University, June 2018

 

10.  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

 

11.  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

 

12.  Developing A Wearable Gadget For Improving Basketball Skills, C. Akşit, K. Arkan, İ. D. Gülmez, June 2017

 

13.  Acceleration Control of Stabilized Platforms, M. U. Özcan, S. Doran, Sabanci University, June 2017

 

14.  Design, Construction and Flight Control of a Camera Equipped Quadcopter, Y. M. Kıdil, H. K. Kara, Sabanci University, June 2016

 

15.  Design and Development of a GPS Aided Inertial Navigation System, O. Uzunyayla, Sabanci University, June 2016

 

16.  Kinect Based Position Control of a Nano Quadcopter, H. Buluttekin, A. Gül, Sabanci University, January 2016

 

17.  Optimizing Diesel Engine Calibration Process, E. Ünlü, Ş. Ö. Turan, Sabanci University, June 2015

 

18.  Coordinated Motion of Multiagent Systems, E. Tever, Sabanci University, June 2015

 

19.  Design and Construction of a Small Autonomous Quadrocopter that Performs Aggressive Maneuvers, S. Hanaylı, Sabanci University, June 2013

 

20.  Coordinated Motion of Multiple Autonomous Agents, M. Bucak, Sabancı University, June 2013

 

21.  Implementation of Visual SLAM Algorithms on Mobile Robots, H. Aydoğuş, Sabancı University, June 2013

 

22.  Vision Based Landing of a Quadrocopter, C. Ergenç, Sabancı University, June 2013

 

23.  Control of Wind Energy Systems, A. E. Demirel, Sabancı University, January 2013

 

24.  High Level Control of a UAV Using an Onboard Microcomputer, B. C. Üstündağ, D. Üzüşen, Sabancı University, June 2012

 

25.  ARM Based Microcontrollers for Low-Level Control of Unmanned Aerial Vehicles, H. Kazancı, E. Görgün, Sabancı University, June 2012

 

26.  Developing Graphical User Interface for an Unmanned Aerial Vehicle, G. Yılmaz, Sabancı University, June 2012

 

27.  Vision Based Coordination of Mobile Robots, E. Karadere, M. G. Özer, Ö. Mutlu, Sabancı University, June 2012

 

28.  Design and Prototyping of a Small Sized Quadrotor, C. Karahasonoğlu, O. Gözek, C. Özenel, Sabancı University, June 2011

 

29.  Hierarchical Control of a Quadrotors Using GPS and Vision, O. Y. Çokay, Sabancı University, June 2011

 

30.  Time Delay Compensation in Bilateral Teleoperation, E. Çalışgan, Sabancı University, June 2010

 

31.  Design and Prototyping of a Quadrotor, A. Şahinöz, M. Gülhan, Sabancı University, June 2010

 

32.  Mechanical Design of a Tilt-Wing UAV, O. Aydoğdu, Sabancı University, June 2010

 

33.  Sensor and Actuator Integration of a UAV for Autonomous Flight Control, Y. Tüzel, E. Tanrıverdi, Sabancı University, June 2010

 

34.  Actuator Tests for the Control of a Quadrotor, Ö. R. Kemaloğlu, A. Cezzar, D. H. Aktaş, Sabancı University, June 2010

 

35.  Autonomous Mobile Robots with Vision Sensing, S. Dikyar, F. Mutluel and C. Çakır, Sabancı University, June 2009

 

36.  Modeling and Control of an Unmanned Aerial Vehicle (UAV) with Tilt-Wing Mechanism, T. Ayken, Sabancı University, June 2009

 

37.  Maze Solving Robot, O. O. Eroğlu and İ. H. Altuntaş, Sabancı University, June 2009

 

38.  Wave Based Control of a Toothed Belt System, E. C. Arslan, Sabancı University, January 2009

 

39.  Multi-camera Tracking of Fish in Aquarium, S. Satır, Sabancı University, June 2008

 

40.  Design and Construction of an Experimental Facility for Unmanned Aerial Vehicles, C. Hançer, E. Çalıkoğlu, E. Duman, E. Baran, Sabancı University, June 2008

 

41.  Audio-Visual Speech Recognition, H. Şirin, Sabancı University, June 2007

 

42.  Visual Control of a Direct Drive Robot, F. M. Özkeskin, E. Arslanturk, O. Kurugöl and G. Berkan, Sabancı University, June 2006

 

43.  Ball Cathing Direct Drive SCARA Robot, H. A. Varol, A. F. Tabak, M. Fidanoğlu and U. Tümerdem, Sabancı University, June 2005

 

44.  A Modular Snake Robot with Pneumatic Pistons, M. Degirmenci, G. T. Kursun, İ. K. Gunes, Sabanci University, June 2005

 

45.  A Modular Snake Robot with Pneumatic Cylinders, M. Yilmaz, Y. Kulak, S. Dundar, Sabanci University, June 2005

 

46.  Turbine Blade Reverse Engineering, A. M. Vuruşkan and N. D. Bozgeyik, Sabancı University, June 2005

 

47.  Visual Servoing of Nonholonomic Mobile Robots, C. Şahin, A. M. Oymagil, Sabancı University, June 2005

 

Publications

Ĝ  Edited Books

Ĝ  Book Chapters

Ĝ  Journal Articles

Ĝ  Papers in Conference Proceedings

Ĝ  Papers in National Conference Proceedings

Ĝ  Theses