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MUSTAFA ÜNEL

Professor

Director of Control, Vision and Robotics (CVR) Research Group

 

Sabanci University

Faculty of Engineering and Natural Sciences

Orhanlı Tuzla 34956 İstanbul TURKEY

E-mail: munel@sabanciuniv.edu

Phone: +90-216-483 9549

Fax: +90-216-483 9550

 

 

Mustafa Ünel received his B.S. in EE and M.S. in Systems and Control, both from Bogazici University in 1994 and 1996. He received a second M.S. degree in Applied Mathematics and his Ph.D. in Electrical Sciences and Computer Engineering from Brown University in 1998 and 1999, respectively. After his PhD, he held postdoctoral positions at Brown and Yale Universities from 1999 to 2001. He then returned to Turkey and joined the Department of Computer Engineering at Gebze Institute of Technology as an Assistant Professor in 2001. During 2001-2004, he taught several undergraduate and graduate courses in vision, control, robotics, graphics and mathematics at several state and private universities including Bogazici, Sabanci and Yeditepe Universities. In September 2004, he joined the Faculty of Engineering and Natural Sciences at Sabanci University as a full-time faculty member, and he was affiliated with the Mechatronics Engineering. Dr. Unel became an Associate Professor in 2005 and a Full Professor in 2011.

 

Dr. Ünel's primary research interests are in computational vision, control and robotics. In vision area, he is interested in 2D/3D shape representation, algebraic and geometric methods for object recognition, motion and structure estimation, image stitching and mosaicing, and multi camera surveillance systems. In control area, he is interested in modeling, estimation and control of linear and nonlinear multivariable systems. In robotics area, he is interested in robot vision, visual servoing, unmanned aerial vehicles (UAV), group coordination and cooperative control of multiple autonomous robots (land, aerial and underwater), visual and force feedback strategies in microsystems, and bilateral teleoperation. He has been involved in several research projects in various capacities and he has supervised more than 30 graduate students. He is a member of IEEE and Advisory Board of TUBITAK EEEAG.

 

Education

*      Ph.D. in Electrical Sciences and Computer Engineering, Brown University, Providence, RI, USA, 1999

*      M.S. in Applied Mathematics, Brown University, Providence, RI, USA, 1998

*      M.S. in Systems and Control Engineering, Bogazici University, Istanbul, Turkey, 1996

*      B.S. in Electrical and Electronics Engineering, Bogazici University, Istanbul, Turkey 1994

 

Work Experience

*      Sabanci University, Faculty of Engineering and Natural Sciences

o   Professor, 2011- …

o   Associate Professor, 2005 - 2011

o   Assistant Professor, 2004 - 2005

 

*      Gebze Institute of Technology, Department of Computer Engineering

o   Assistant Professor, 2001 - 2004

 

*      Yale University, Department of Electrical and Computer Engineering

o   Postdoctoral Research Associate, Center for Computational Vision and Control, New Haven, CT, USA, 1999 - 2001

 

*      Brown University, Department of Electrical Engineering

o   Postdoctoral Research Associate, Laboratory for Engineering Man-Machine Systems, Providence, RI, USA, 1999 - 2001

 

Projects

 

1.      “Hidrodinamik Kavitasyona Dayanan Medikal Uygulamalar İçin Kullanılacak Ulusal Endoskopik Cihaz Tasarımı ve Geliştirilmesi”, TUBITAK 1003, Project No. 113S092, 2013-2016, Role: Researcher

 

2.      “National Wind Energy Systems Project: Design, Development and Prototype Testing of Novel Turbine Systems,” Agency: Energy Ministry of Turkey and TUBITAK, Project No. 110G010, 2011-2013, Role: Leader of the System Modeling Group

 

3.      “Design, Development, Prototyping and Testing of Ultra High Temperature Actuators for Gas Turbine and Aircraft Engine Active Clearance Control,” Agency: ATARD Defense & Aerospace Research and Development Inc., Project No. EACF10-729, 2010-2012, Role: Co-PI

 

4.      “Mechanical Design, Prototyping and Flight Control of an Unmanned Autonomous Aerial Vehicle,” Agency: TUBITAK-107M179, 01.10.2007-30.09.2010, Role: PI

 

5.      “Bilateral Control Systems with Time Delay Compensation,” Agency: TUBITAK/NSF International Project-106M533, 15.08.2008-15.08.2010, Role: PI

 

6.      “Novel Approaches in Audio-Visual Speech Recognition,” Agency: TUBITAK-107E015, 01.10.2007-30.09.2010, Role: Researcher

 

7.      “Integrated Visual Servoing and Force Approach to Micro-Object Manipulation,” Sabanci University Internal Grant- IACF06-00417, 01.10.2006-30.09.2008, Role: PI

 

8.      “Design, Construction and Control of Biped Humanoid Robot,” Agency: TUBITAK-106E040, 01.07.2007-30.06.2009, Role: Researcher

 

9.      “Open Structure Microassembly Workstation,” Agency: DPT/GYTE-EACF05-00268, 01.01.2005-31.12.2007, Role: Researcher

 

10.  “Reverse Engineering and Modeling of Superalloy Gas Turbine Blades,” Agency: TUBITAK-MAM (TUBITAK Marmara Research Center), EACF04-00269, 01.11.2004-30.04.2006, Role: Co-PI.

 

11.  “Automatic Recognition of Hand Written Texts and Signatures,” Gebze Institute of Technology Internal Grant: BAP-2003A23, 2003-2004, Role: PI

 

12.  “Coordinated Motion of Natural and Man-Made Groups,” Agency: NSF, Grant No. 9980058, 1999-2001, Yale University, Role: Postdoctoral Researcher

 

13.  “Reactive Switching Strategies for the Control of Uninhabited Air Vehicles,” Agency: DARPA-SEC project, 1999-2001, Yale University, Role: Postdoctoral Researcher

 

14.  “New Algebraic Methods for Simplifying the Design and Measurement of Sculptured Shapes,” Agency: NSF, Grant No. 9820804, 1999-2001, Brown University, Role: Postdoctoral Researcher

 

15.  “A New Implicit Polynomial Technology for Advanced Manufacturing,” Agency: NSF International Grant, Grant No. 9731598, 1998-2001, Brown University, Role: Researcher

 

Teaching

 

Undergraduate Courses

 

ENS206: Systems Modeling and Control, ME303: Control Systems Design, ME403: Introduction to Robotics, ME425: Autonomous Mobile Robotics

 

Graduate Courses

 

EE524: Digital Control, ME525: Autonomous Mobile Robotics, EE528: Nonlinear Control Systems, EE529: Vision Based Control, EE569: 3D Vision, EE571: Linear Systems, EE629: Geometric Modeling, EE672: System Identification

 

Graduate Students

 

*      Sanem Evren (PhD)

*      Talha Boz (PhD)

*      Ahmet Eren Demirel (MS)

*      Gökhan Alcan (MS)

 

Thesis Supervision

 

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

Barış Can Üstündağ, MS Thesis, Sabanci University, 2014

 

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

Alper Yıldırım, MS Thesis, Sabanci University, 2014

 

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

Doğan Üzüşen, MS Thesis, Sabanci University, 2014

 

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

Taygun Kekeç, MS Thesis, Sabanci University, 2013

 

5.      Metric and Appearance Based Visual SLAM for Mobile Robots

Caner Şahin, MS Thesis, Sabanci University, 2013

 

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

Mehmet Ali Güney, MS Thesis, Sabanci University, 2013

 

7.      UAV Based Group Coordination of UGVs

Soner Ulun, MS Thesis, Sabancı University, 2013

 

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

Sanem Evren, MS Thesis, Sabancı University, 2012

 

9.      Nonlinear Control of a Quad Tilt-Wing UAV

Serhat Dikyar, MS Thesis, Sabancı University, 2011

 

10.  An Observer Based Approach to Force Reflecting Bilateral Teleoperation

Duruhan Özçelik, MS Thesis, Sabancı University, 2011

 

 

 

11.  Development of an Automated Sanding System

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

 

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

Ertuğrul Çetinsoy, PhD Thesis, Sabancı University, 2010

 

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

Efe Sırımoğlu, MS Thesis, Sabancı University, 2010

 

14.  Delay Compensation in Bilateral Teleoperation Using Predictor Observers

Tuğba Leblebici, MS Thesis, Sabancı University, 2010

 

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

Cevdet Hançer, MS Thesis, Sabancı University, 2010

 

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

Kaan Taha Öner, MS Thesis, Sabancı University, 2009

 

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

Ahmet Yasin Yazıcıoğlu, MS Thesis, Sabancı University, 2009

 

18.  Statistical Facial Feature Extraction and Lip Segmentation

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

 

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

Hakan Bilen, MS Thesis, Sabancı University, 2008

 

20.  3D Reconstruction, Classification and Mechanical Characterization of Microstructures

Muhammet Ali Hocaoğlu, MS Thesis, Sabancı University, 2008

 

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

Yeşim Hümay Esin, MS Thesis, Sabancı University, 2008

 

22.  Visually Aided Force Control with Fuzzy Parameter Tuning

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

 

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

Erol Özgür, MS Thesis, Sabancı University, 2007

 

24.  Automation of Relaxation-Retraction Measurement

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

 

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

Eray Doğan, MS Thesis, Sabancı University, 2006

 

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

Nusrettin Güleç, MS Thesis, Sabancı University, 2005

 

27.  A Sliding Mode Approach to Visual Motion Estimation

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

 

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

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

 

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

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

 

30.  Character Recognition Using Closed-Bounded Algebraic Curves

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

 

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

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

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

 

Alumni

 

*      Caner Şahin (PhD Student, Imperial College, UK)

 

*      Alper Yıldırım (PhD Student, Georgia Institute of Technology, USA)

 

*      Taygun Kekeç (PhD Student, Delft University of Technology, Netherlands)

 

*      Soner Ulun (PhD Student, Nanyang Technological University, Singapore)

 

*      Serhat Dikyar (Aselsan, Ankara)

 

*      Duruhan Özçelik (Altınay Robot Technologies, Istanbul)

 

*      Fatih Mutluel (TÜBİTAK-MAM, Energy Institute)

 

*      Ertuğrul Çetinsoy (Assistant Professor, Istanbul Commerce University)

 

*      Efe Sırımoğlu (Aselsan, Ankara)

 

*      Cevdet Hançer (Unilever, Istanbul)

 

*      Tuğba Leblebici (TAI, Ankara)

 

*      Kaan T. Öner (Vistek ISRA Vision, Istanbul)

 

*      Ahmet Yasin Yazıcıoğlu (PhD Student, Georgia Institute of Technology, USA)

 

*      Sarp Satır (PhD Student, Georgia Institute of Technology, USA)

 

*      Mustafa Berkay Yılmaz (PhD Student, Sabancı University)

 

*      Hakan Bilen (Postdoctoral Researcher at Catholic University of Leuven, Belgium)

 

*      Muhammet Ali Hocaoğlu (TÜBİTAK-MAM)

 

*      Yeşim Hümay Esin (Robotics Engineer, GE Marmara Technology Center)

 

*      Berk Çallı (Postdoctoral Researcher at Yale University, CT, USA)

 

*      Erol Özgür (Postdoctoral Researcher at Blaise Pascal University, France)

 

*      Eray Doğan (Roketsan, Ankara/Istanbul)

 

*      Nusrettin Güleç (Aselsan, Ankara)

 

*      Burak Yılmaz (PhD student, Northeastern University)

 

*      Burak Kemal Yöndem (Turkcell, Istanbul)

 

*      Sema Candemir (Postdoctoral Researcher, Dept. of Computer Science, Univ. of Missouri-Columbia, USA)

 

*      Sait Şener (Nortel Netaş Telekomünikasyon A.Ş., Istanbul)

 

*      Ömer Kayaaltı (Faculty Member, Erciyes University, Kayseri)

 

Publications

*      Edited Books

*      Book Chapters

*      Journal Articles

*      Papers in Conference Proceedings

*      Papers in National Conference Proceedings

*      Theses