Short Biography

Mustafa Ünel Associate Professor Faculty of Engineering and Natural Sciences Sabanci University Orhanlı Tuzla 34956 İstanbul TURKEY E-mail: munel_at_sabanciuniv.edu Phone: +90-216-483 9549 Fax: +90-216-483 9550

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 Associate Professor, 6/05 - ... o Assistant Professor,  9/04 - 5/05 o Assistant Professor, 10/01 – 8/04 (Part-time) · Gebze Institute of Technology, Department of Computer Engineering o Assistant Professor, 3/01 - 8/04 o Director, 9/02 – 8/04 – Vision, Graphics and Human Computer Interaction Lab. · Yale University, Department of Electrical and Computer Engineering o Postdoctoral Research Associate, Center for Computational Vision and Control, New Haven, CT, 9/99 - 1/01 · Brown University, Department of Electrical Engineering o Postdoctoral Research Associate, Laboratory for Engineering Man-Machine Systems, Providence, RI, 6/99 - 1/01 Research Interests Applications of algebraic and geometric techniques to the broad range of problems in vision, control, robotics and microsystems. · Vision: 3D Reconstruction, Motion Analysis, Invariant Theory, Visual Tracking, Shape Modeling, Object Recognition · Control: Intelligent and Nonlinear Control Systems, Robust Control, Observers · Robotics: Visual Servoing, Unmanned Aerial Vehicles (UAV), Bilateral Teleoperation, Coordination of Multiple Autonomous Robots · Microsystems: Micromanipulation Projects · Bilateral Control Systems with Time Delay Compensation, TUBITAK/NSF-106M533, 2008-2010 · Mechanical Design, Prototyping and Flight Control of an Unmanned Autonomous Aerial Vehicle, TUBİTAK-107M179, 2007-2010 · Integrated Visual Servoing and Force Approach to Micro Object Manipulation, Sabanci University Internal Grant-IACF00417, 2006-2008 · Reverse Engineering and Modeling of Gas Turbine Blades, TUBITAK MAM- EACF04-00269, 2004-2006 Publications Teaching · ME 403: Introduction to Robotics (Fall 08, 09) · ME 303: Control Systems Design (Fall 01, 02, 03, 04, 06, 07) · ENS 206: Systems Modeling and Control (Spring 05, 06, 07) · EE 524: Digital Control Systems (Spring 02, 09) · EE 528: Nonlinear Control Systems (Spring 04, 05, 07) · EE 529: Vision Based Control (Spring 03, Fall 04, Spring 06, Fall 07, Spring 2010) · EE 571: Linear Systems (Fall 06, Spring 08, 09, Spring 2010) · EE 569: 3D Vision (Fall 08) Courses Taught in the Past · EE589: Geometric Methods in Machine Vision (Bogazici University, Fall 01) · BM526: Advanced Topics in Discrete Mathematics (Gebze Institute of Technology, Fall 01, 02, 03) · BM522: Computer Vision (Gebze Institute of Technology, Spring 01, Fall 02, Spring 02) · BM504: Robot Control (Gebze Institute of Technology, Spring 02) · BM567: Geometric Modeling (Gebze Institute of Technology, Spring 03) · MAT217: Linear Algebra and Differential Equations (Gebze Institute of Technology, Fall 03) Current Students PhD Students Ertuğrul Çetinsoy Hakan R. Avcı Kaan T. Öner Muhammet A. Hocaoğlu MS Students Efe Sırımoğlu Cevdet Hançer Tuğba Leblebici Serhat Dikyar Duruhan Özçelik MS Thesis Supervision 1. Kaan Taha Öner (PhD student, Sabancı University) “Modeling and Control of a New Unmanned Aerial Vehicle (SUAVİ) with Tilt-Wing Mechanism,” Sabancı University, 2009. 2. Ahmet Yasin Yazıcıoğlu (PhD student, Georgia Institute of Technology, USA) “Motion Estimation of Planar Curves and Their Alignment Using Visual Servoing,” Sabancı University, 2009. 3. Mustafa Berkay Yılmaz (PhD student, Sabancı University) “Statistical Facial Feature Extraction And Lip Segmentation,” Sabancı University, 2009. 4. Hakan Bilen (PhD student, Catholic University of Leuven, Belgium) “Novel Estimation and Control Techniques in Micromanipulation Using Vision and Force Feedback,” Sabancı University, 2008. 5. Muhammet Ali Hocaoğlu (PhD Student, Sabanci University, Researcher at Information Technologies Institute, TUBITAK-MAM) “3D Reconstruction, Classification and Mechanical Characterization of Microstructures,” Sabancı University, 2008. 6. Yeşim Hümay Esin (Robotics Engineer, GE Marmara Technology Center) “Formation Control of Multiple Mobile Robots using Parametric and Implicit Representations,” Sabancı University, 2008. 7. Berk Çallı (PhD Student, Delft University of Technology, Netherlands) “Visually Aided Force Control with Fuzzy Parameter Tuning,” Sabancı University, 2008. 8. Erol Özgür (PhD student, Blaise Pascal University, France) “Model Free Visual Servoing in Macro and Micro Domain Robotic Applications,” Sabancı University, 2007. 9. Eray Doğan (Calibration Engineer, Ford Otosan) “Design and Implementation of a Vision System for Microassembly Workstation,” Sabancı University, 2006. 10. Nusrettin Güleç (System Engineer, SDT Uzay ve Savunma Teknolojileri) “Modeling and Control of the Coordinated Motion of a Group of Autonomous Mobile Robots,” Sabancı University, 2005. 11. Burak Yılmaz (PhD student, Northeastern University) “A Sliding Mode Approach to Visual Motion Estimation,” Sabancı University, 2005. 12. Burak Kemal Yöndem (Turkcell) “Different Approaches on the Implementation of Implicit Polynomials in Visual Tracking,” Sabancı University, 2005. 13. Sait Şener (Nortel Netaş TeleKomünikasyon A.Ş.) “Affine Invariant Normalization and Modeling of 2D/3D Objects Using EFD Based Implicit Polynomials,” Gebze Institute of Technology, 2004. 14. Sema Candemir (PhD student, Gebze Institute of Technology) “Character Recognition Using Closed-Bounded Algebraic Curves,” Gebze Institute of Technology, 2004. 15. Ömer Kayaaltı (Faculty Member, Erciyes University) “Decomposition of Implicit Polynomial Equations for Object Comparison and Recognition,” Gebze Institute of Technology, 2003. 16. Osman Kurt “Determination of Affine Invariants of 2D Objects and Application to Object Recognition,” Gebze Institute of Technology, 2003.  Graduation Project Supervision 1. Serhat Dikyar, Fatih Mutluel and Cansev Çakır, “Autonomous Mobile Robots with Vision Sensing,” Sabancı University, June 2009. 2. Taylan Ayken, “Modeling and Control of an Unmanned Aerial Vehicle (UAV) with Tilt-Wing Mechanism,” Sabancı University, June 2009. 3. Orhan Ozan Eroğlu and İsmail Hakkı Altuntaş, “Maze Solving Robot,” Sabancı University, June 2009. 4. Emre Can Arslan, “Wave Based Control of a Toothed Belt System,” Sabancı University, January 2009. 5. Sarp Satır, “Multi-camera Tracking of Fish in Aquarium,” Sabancı University, June 2008. 6. Cevdet Hançer, Egemen Çalıkoğlu, Emre Duman, Eray Baran, “Building a Prototype Unmanned Aerial Vehicle (UAV) and its Flight Control,” Sabancı University, June 2008. 7. Halil Şirin, “Audio-Visual Speech Recognition,” Sabancı University, June 2007. 8. Fatih Mert Özkeskin, Emrah Arslanturk, Orçun Kurugöl and Gürkan Berkan “Visual Control of a Direct Drive Robot,” Sabancı University, June 2006. 9. Hüseyin Atakan Varol, Ahmet fatih Tabak, Melih Fidanoğlu and Uğur Tümerdem “Ball Cathing Direct Drive SCARA Robot,” Sabancı University, June 2005. 10. Mete Degirmenci, Gunes Turker Kursun, İbrahim Kaya Gunes, “A Modular Snake Robot with Pneumatic Pistons,” Sabanci University, June 2005. 11. Murat Yilmaz, Yakup Kulak, Saadet Dundar, “A Modular Snake Robot with Pneumatic Cylinders,” Sabanci University, June 2005. 12. Ali Mert Vuruşkan and Necmettin Deniz Bozgeyik, “Turbine Blade Reverse Engineering,” Sabancı University, June 2005. 13. Cihan Şahin, A. Mehmet Oymagil, “Visual Servoing of Nonholonomic Mobile Robots,” Sabancı University, June 2005.