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

Integrated Manufacturing Technologies Research and Application Center


E-mail: munel@sabanciuniv.edu

Phone: +90-216-483 9549




Mustafa Ünel received his BS in EE and MS in Systems and Control, both from Bogazici University in 1994 and 1996. He received a second MS degree in Applied Mathematics in 1998 and his PhD in Electrical Sciences and Computer Engineering in 1999, both from Brown University (USA). He held postdoctoral positions at Brown and Yale Universities from 1999 to 2001. He worked as an Assistant Professor in the Department of Computer Engineering at Gebze Institute of Technology from 2001 to 2004. During this period, he taught many undergraduate and graduate courses on computer vision, control, robotics, graphics and mathematics at several universities including Bogazici, Sabanci and Yeditepe Universities. He then joined the Faculty of Engineering and Natural Sciences at Sabanci University as a full-time faculty member in September 2004. Dr. Unel became an Associate Professor in 2005 and a Full Professor in 2011.


Dr. Ünel's primary research interests are in computer vision, control and robotics. In vision area, he is interested in 2D/3D shape modeling using algebraic curves and surfaces, geometric invariant theory, feature detection and extraction, visual tracking, object recognition, image registration and mosaicing, structure from motion and multi-camera surveillance systems. His control interests include modeling of dynamical systems using both first principles and system identification, observer theory, and design of linear and nonlinear control systems. In robotics, in addition to visual servoing of industrial robots, he conducts research in several areas of mobile robotics including perception, sensor/data fusion, VSLAM, unmanned aerial vehicles (UAV) and multiple autonomous robots (land, aerial and underwater). He is a member of IEEE.



*      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

*      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





1.      “Computer Vision and Control Systems for Autonomous Driving”, Ford Otosan, 2018-2019, Role: Advisor


2.      “System Identification Methods for Diesel Engine Calibration Process – Phase III”, Ford Otosan, 2017-2018, Role: PI


3.      “System Identification Methods for Diesel Engine Calibration Process - Phase II”, Ford Otosan, 2016-2017, Role: PI


4.      “Havza Bilgi Sistemi Geliştirilmesi”, TUBITAK 1003, Project No. 115Y008, 2016-2019, Role: Researcher


5.      “Airpath Control Methods for Diesel Engines”, Ford Otosan, 2015-2018, Role: PI


6.      “System Identification Methods for Diesel Engine Calibration Process - Phase I”, Ford Otosan, 2014-2015, Role: PI


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


8.      “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


9.      “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


10.  “Mechanical Design, Prototyping and Flight Control of an Unmanned Autonomous Aerial Vehicle,” Agency: TUBITAK-107M179, 2007-2010, Role: PI


11.  “Bilateral Control Systems with Time Delay Compensation,” Agency: TUBITAK/NSF International Project-106M533, 2008-2010, Role: PI


12.  “Novel Approaches in Audio-Visual Speech Recognition,” Agency: TUBITAK-107E015, 2007-2010, Role: Researcher


13.  “Integrated Visual Servoing and Force Approach to Micro-Object Manipulation,” Sabanci University Internal Grant- IACF06-00417, 2006-2008, Role: PI


14.  “Design, Construction and Control of Biped Humanoid Robot,” Agency: TUBITAK-106E040, 2007-2009, Role: Researcher


15.  “Open Structure Microassembly Workstation,” Agency: DPT/GYTE-EACF05-00268, 2005-2007, Role: Researcher


16.  “Reverse Engineering and Modeling of Superalloy Gas Turbine Blades,” Agency: TUBITAK-MAM (TUBITAK Marmara Research Center), EACF04-00269, 2004-2006, Role: Co-PI.


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


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


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


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


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




Undergraduate Courses


ENS206: Systems Modeling and Control

ME303: Control Systems Design

ME403: Introduction to Robotics

ME425: Autonomous Mobile Robotics

EE417: Computer Vision


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


*      Alper Gün (PhD, 2244 Industrial PhD Program)

*      Amna Maqbool (PhD)

*      Diyar Khalis Bilal (PhD)

*      Eren Aydemir (PhD)

*      Mehmet Emin Mumucuoğlu (PhD)

*      Mohammad Taleb Zamzam (PhD)

*      Naida Fetic (PhD)

*      Nima Jafarzadeh (PhD, 2244 Industrial PhD Program)

*      Mehmet Fatih Demirel (MS)

*      Selim Ahmet İz (MS)

*      Farjad Zafar (MS)

*      Yarkın Hocaoğlu (MS)


Thesis Supervision


PhD Theses


1.      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


2.      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


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

Gökhan Alcan, PhD Thesis, Sabanci University, July 2019


4.      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


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

Ertuğrul Çetinsoy, PhD Thesis, Sabancı University, August 2010


MS Theses


1.      A Novel Coordination Framework for Multi-Robot Systems

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


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

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


3.      Modeling and Nonlinear Adaptivce Control of an Aerial Manipulation System

Emre Yılmaz, MS Thesis, Sabanci University, July 2019


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

Zain Fuad, MS Thesis, Sabanci University, 2018


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

Ekin Yağış, MS Thesis, Sabanci University, 2018


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

Fırat Yavuz, MS Thesis, Sabanci University, 2016


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

Gökhan Alcan, MS Thesis, Sabanci University, 2015


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

Ahmet Eren Demirel, MS Thesis, Sabanci University, 2015


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

Barış Can Üstündağ, MS Thesis, Sabanci University, 2014


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

Alper Yıldırım, MS Thesis, Sabanci University, 2014


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

Doğan Üzüşen, MS Thesis, Sabanci University, 2014


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

Taygun Kekeç, MS Thesis, Sabanci University, 2013


13.  Metric and Appearance Based Visual SLAM for Mobile Robots

Caner Şahin, MS Thesis, Sabanci University, 2013


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

Mehmet Ali Güney, MS Thesis, Sabanci University, 2013


15.  UAV Based Group Coordination of UGVs

Soner Ulun, MS Thesis, Sabancı University, 2013


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

Sanem Evren, MS Thesis, Sabancı University, 2012


17.  Nonlinear Control of a Quad Tilt-Wing UAV

Serhat Dikyar, MS Thesis, Sabancı University, 2011


18.  An Observer Based Approach to Force Reflecting Bilateral Teleoperation

Duruhan Özçelik, MS Thesis, Sabancı University, 2011




19.  Development of an Automated Sanding System

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


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

Efe Sırımoğlu, MS Thesis, Sabancı University, 2010


21.  Delay Compensation in Bilateral Teleoperation Using Predictor Observers

Tuğba Leblebici, MS Thesis, Sabancı University, 2010


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

Cevdet Hançer, MS Thesis, Sabancı University, 2010


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

Kaan Taha Öner, MS Thesis, Sabancı University, 2009


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

Ahmet Yasin Yazıcıoğlu, MS Thesis, Sabancı University, 2009


25.  Statistical Facial Feature Extraction and Lip Segmentation

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


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

Hakan Bilen, MS Thesis, Sabancı University, 2008


27.  3D Reconstruction, Classification and Mechanical Characterization of Microstructures

Muhammet Ali Hocaoğlu, MS Thesis, Sabancı University, 2008


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

Yeşim Hümay Esin, MS Thesis, Sabancı University, 2008


29.  Visually Aided Force Control with Fuzzy Parameter Tuning

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


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

Erol Özgür, MS Thesis, Sabancı University, 2007


31.  Automation of Relaxation-Retraction Measurement

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


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

Eray Doğan, MS Thesis, Sabancı University, 2006


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

Nusrettin Güleç, MS Thesis, Sabancı University, 2005


34.  A Sliding Mode Approach to Visual Motion Estimation

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


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

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


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

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


37.  Character Recognition Using Closed-Bounded Algebraic Curves

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


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

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


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


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


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


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


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


6.      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.


7.      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.


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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



*      Edited Books

*      Book Chapters

*      Journal Articles

*      Papers in Conference Proceedings

*      Papers in National Conference Proceedings

*      Theses