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MUSTAFA ÜNEL Professor 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 |
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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 PublicationsĜ Edited Books
Ĝ Book Chapters
Ĝ Journal Articles
Ĝ Papers in Conference
Proceedings
Ĝ Papers in
National Conference Proceedings
Ĝ Theses
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