MUSTAFA ÜNEL Professor 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 mathematics, vision, control, robotics and graphics 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, camera calibration, visual tracking, multiple view geometry and event identification. In control and robotics areas, he is interested in vision based control of robots, unmanned aerial vehicles (UAV), visual and force feedback strategies in microsystems, bilateral teleoperation, and group behavior of multiple mobile robots. 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 Research Interests My research has focused on the theory and applications of algebraic, geometric and probabilistic techniques to the broad range of problems in vision, control and robotics. Vision and control are the two recurrent themes in my investigations, and I am very much interested in the unification of these disciplines in the interdisciplinary field of robotics. Some particulars of my research are highlighted below. Developing Wind Energy Systems: In December 2010, we received a new grant (approximately $6.5M) from Energy Ministry of Turkey and TUBITAK to develop national wind energy systems. Project officially started in July 2011. We will design, develop, prototype and test novel turbine systems. I’m leading the System Modeling Group. We’ll be developing mathematical models, model reduction and identification techniques to simulate the behavior of the system and control the plant. Unmanned Aerial Vehicles (UAV): There have been significant advances in the development of flexible, small and cheap autonomous unmanned aerial vehicles in recent years. In 2007, I initiated a new research program on UAVs in the context of a TUBITAK (Scientific and Technological Research Council of Turkey) funded project. The project consisted of aerodynamic and mechanical design, composite prototyping and electronic control systems design for autonomous flight. We designed and prototyped a new UAV (SUAVI: Sabanci University Unmanned Aerial VehIcle) which is capable of vertical take-off and landing (VTOL) like a helicopter and flying horizontally like an airplane. By combining low-cost inertial sensor information with the high level GPS and camera information, SUAVI can hover at a point in the air approximately half an hour and can follow certain trajectories in semi or full autonomous flight modes. It can fly both indoors and outdoors. In indoor flights, SUAVI uses visual feedback to hover and navigate. It carries wireless cameras for surveillance. The work involved a cross-disciplinary blend of ideas drawn from mechanics, aerodynamics, electronics, automatic control and computer vision. Project successfully ended in October 2010 with 1 PhD Thesis, 3 MSc Theses and several conference and journal publications. Bilateral Control of Teleoperators: In a joint TUBITAK/NSF international project, we developed observer based time delay compensation techniques for stable and transparent bilateral teleoperation. Using the internet as the medium of communication, we achieved successful bilateral teleoperation results in spite of variable network delays. Experiments were performed on a pair of pantograph robots that were designed and developed in our robotics lab. Project successfully ended in August 2010 with 2 MSc Thesis, and several conference and journal publications. Visual Servoing: Visual servoing refers to the closed-loop control of robotic systems using visual feedback. We have been developing visual servoing algorithms for various robotic platforms such as the Mitsubishi PA10 robotic arm, a group of mobile robots, a direct drive SCARA robot, a microassembly workstation and a biped humanoid robot. In my visual servo control investigations, in addition to the more classical visual features, I introduced novel visual features such as “bitangent lines” and “algebraic curve features” that can be used in visual control laws. In the application of visual servoing to micromanipulation, I developed some novel estimation and control techniques based on visual feedback to characterize the mechanical behavior of the micro structures and reconstruct the interaction forces. We published several papers in the leading robotic conference proceedings, including IEEE IROS’07 (International Conference on Intelligent Robots and Systems) and IEEE ICRA’09 (International Conference on Robotics and Automation), two Springer book chapters and a journal paper in Machine Vision and Applications, which was published in January 2012. Motion and Structure Estimation: Motion and structure estimation is a fundamental problem in machine vision and there is a significant amount of work dedicated to this important problem. I developed motion estimation algorithms that utilize Sliding Mode Observers (SMO), which appeared in the February 2008 issue of International Journal of Systems Science. I also developed some novel dynamic models and estimation techniques for studying curve motion. Point and line correspondence problems are well known in vision and robotics, but little is known about curve correspondence, and this work would perhaps initiate a work on curve correspondence as well. Results from this research appeared in ACC’05 (American Control Conference) as well as the October 2010 issue of Journal of Mathematical Imaging and Vision. Coordinated Motion of Autonomous Robots: Autonomous multi agent systems have attracted the interest of many research groups throughout the world in the last decade. I developed a new mass-spring-damper model to describe interactions between the robots and introduced adaptive springs that could be relaxed in various operation modes. Collisions were avoided by constructing a virtual shell around each robot. Our findings were published in the proceedings of the joint IEEE CDC-ECC’05 (IEEE Conference on Decision and Control and European Control Conference) and IEEE IECON’05 (IEEE Industrial Electronics Society Conference). A journal paper was also published in Springer’s Lecture Notes in Computer Science in 2005. My more recent work in this area appeared as a book chapter in Springer’s Lecture Notes in Artificial Intelligence in 2008 and as a journal paper in the September 2010 issue of Turkish Journal of Electrical Engineering and Computer Sciences. 2D/3D Shape Modeling and Invariant Object Recognition: Shape modeling and object recognition are important problems in many disciplines including vision, pattern recognition, graphics, CAD/CAM and robotics. I developed a new surface fitting algorithm that utilizes ridge regression regularization to fit range data by high degree algebraic surfaces with superior stability and robustness properties. This work appeared in ICCV’05 (International Conference on Computer Vision), one of the top two vision conferences in the world. It was extended and embellished by introducing a formal proof of closed-boundedness of the resulting surfaces. After providing more experimental results, it was then published in the October 2008 issue of Journal of Mathematical Imaging and Vision, one of the leading publications in this field. I also developed new 3D object recognition algorithms that employ geometric invariants of 3D algebraic surfaces. This work appeared in Pattern Analysis and Applications journal in November 2010. In the context of 2D shape modeling and recognition, I developed a new method for computing moments of elliptic Fourier descriptors. This work appeared in the August 2010 issue of Pattern Recognition Letters. Projects 1. “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 2. “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 3. “Sabanci University Nanotechnology Research and Application Center (SU-NAC),” Agency: DPT (State Planning Organization) and Sabanci Foundation, 2009-2013, Role: Researcher 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 Interests Teaching has always been a very important part of my academic responsibilities. Limited number of courses devoted to mechanics, electronics and control within the undergraduate Mechatronics curriculum requires careful design of the course contents to equip students with necessary background to compete and excel in the real-world. My primary goal in teaching has been to organize and deliver my lectures in a manner that attracts the interest of all of my students, regardless of their aptitudes and backgrounds. Having had a diverse education in a variety of interrelated disciplines, I am qualified to teach both fundamental and advanced topic courses in several different areas, including Systems Modeling and Control, Signals and Systems, Control Systems Design, Robotics, Image Processing, Computer Vision, Linear System Theory, Digital Control, Nonlinear Control, System Identification, 3D Vision, Vision Based Control and Geometric Modeling. In order to link the theory with applications, I enjoy combining classroom recitations with laboratory sessions. For course projects, I place primary emphasis on collaboration, planning and design. Students must learn to organize their ideas, combine their experiences, and work in teams. In addition to class projects, I also supervise several freshman, summer internship and graduation projects. I believe my desire to excel as an educator has been instrumental in creating an environment where students of all abilities and backgrounds have been able to learn new concepts in a timely and satisfactory manner. This observation has been strengthened by the fact that I almost always have received excellent evaluations from my students. Courses Taught Undergraduate Courses ENS206: Systems Modeling and Control - Modeling of mechanical, electrical, electromechanical, thermal and fluid systems using differential equations, Laplace transform techniques and state-space representations, Frequency domain analysis, Open-loop versus closed-loop control, simple PID controllers. My primary challenge in ENS206 was to teach a class of approximately 100 students with diverse backgrounds. By assigning carefully selected problems for recitation hours and giving additional homework, I believe I was able to satisfy all of my students, regardless of their academic level. Timely office hours also helped significantly to encourage students to learn “must-know” topics. ME303: Control Systems Design - Dynamic models, Dynamic response, Feedback, Sensitivity functions, Controller design using root-locus, frequency response and state-space methods, Digital implementation of analog controllers, PID controllers, Lead-lag compensators, Linear state variable feedback control, Observers. In ME303, I conveyed the message that control system design along with all its trade-offs is interesting, relevant, and fun. I believe I achieved this goal and convinced students of the importance and the significance of the subject. ME403: Introduction to Robotics - Spatial descriptions, Forward and inverse kinematics, Robot Jacobians, Robot dynamics using recursive Newton-Euler and Lagrange methods, Trajectory generation, Independent joint control, Inverse dynamics control, Force control, Visual control In ME403, I have been covering fundamental problems in robot modeling and control at the level of J. Craig’s classic text. This senior undergrad course provides a fairly strong background in the interdisciplinary field of robotics. I am also qualified to teach several other undergrad courses, including Circuit Theory, Signals and Systems, Image Processing and Computer Vision. At Sabanci University these courses are in the curriculum of the EE Program and they are mainly taught by EE faculty members. Graduate Courses At the graduate level, I developed several new courses, namely “EE571: Linear Systems”, “EE529: Vision Based Control”, “EE569: 3D Vision”, “EE629: Geometric Modeling” and “EE672: System Identification”. In addition to these courses, I also taught “EE524: Digital Control” and “EE528: Nonlinear Control Systems”. EE524: Digital Control – Models for sampled-data systems; sampling, digitization and reconstruction; the z-transform and discrete transfer functions; design using discrete equivalents (emulation); design of digital control systems using transform methods; state-space analysis and design of digital control systems. EE528: Nonlinear Control Systems – Nonlinear phenomena, Second order systems, Phase plane analysis, Higher order systems, Lyapunov stability theory for autonomous and non-autonomous systems, Backstepping, Input-output stability, Input-to-state stability, Passivity, Feedback linearization, Nonlinear observers EE529: Vision Based Control – Visual servoing, Camera configurations, Camera and end-effector kinematic screw, Visual features, Interaction matrix, Image based visual servoing, Position based visual servoing, Hybrid methods. This graduate course integrates vision and control in the multidisciplinary field of robotics. It covers design of efficient real-time vision based control systems. EE569: 3D Vision – Image formation, Camera models, Image primitives and correspondence, Optical flow, Tracking, Camera calibration, Stereo, Epipolar geometry, Essential and Fundamental matrices, 8-point algorithm, 3D reconstruction This graduate course provides a solid background on how to recover 3-D structure and motion from a collection of 2-D images-using techniques mainly from linear algebra and matrix theory. It proved to be extremely useful for Mechatronics, EE and CS students. EE571: Linear Systems – Vector spaces, Linear transformations, Spectrum of Linear Operators, Jordan Canonical Forms, Cayley-Hamilton Theorem, Functions of matrices, LTI and LTV systems, Stability, Controllability, Observability, Realizations, State feedback and Observers This graduate course on Linear Systems proved to be quite useful not only for Mechatronics but also for other programs including EE and CS. EE629: Geometric Modeling – Parametric and implicit curves and surfaces, curvature and torsion, Hermite interpolation curves, Bezier curves and surface patches, B-spline curves and surface patches, Fourier descriptors, algebraic curves and surfaces This course on geometric modeling develops theory of curves and surfaces needed in tackling problems arising in several disciplines such as geometric modeling, computer vision, computer graphics and robotics. EE672: System Identification – The mathematical foundations of system identification, Non-parametric techniques, Parameterizations and model structures, Parameter estimation, Asymptotic statistical theory, User choices, Experimental design, Choice of model structure. This course aims to provide the fundamental theory of identification of dynamical systems, i.e. how to use measured input-output data to build mathematical models, typically in terms of differential or difference equations. In addition to class projects, I have supervised several freshman projects (PROJ102), summer internship projects (PROJ302) and graduation projects (ENS491/2). Additionally, I supervised several thesis courses (EE590: EECS M.Sc. Thesis course, ME590: Mechatronics M.Sc. Thesis course, ME592: Leaders for Industry (LFI) M.Sc. Thesis course and ME 790: Mechatronics Ph.D. Thesis course). Administrative Duties Member of the PhD Qualifying Exam Committee Graduate Students Sanem Evren Taygun Kekeç Mehmet Ali Güney Soner Ulun Alper Yıldırım Caner Şahin Nusrettin Güleç Thesis Supervision 1. Nonlinear Control of a Quad Tilt-Wing UAV Serhat Dikyar, MS Thesis, Sabanci University, August 2011 2. An Observer Based Approach to Force Reflecting Bilateral Teleoperation Duruhan Özçelik, MS Thesis, Sabanci University, August 2011 3. Development of an Automated Sanding System Fatih Mutluel, MS Thesis (LFI Program), Sabanci University, February 2011 4. Design, Construction and Flight Control of a Quad Tilt-Wing Unmanned Aerial Vehicle Ertuğrul Çetinsoy, PhD Thesis, Sabancı University, August 2010 5. Composite Prototyping and Vision Based Hierarchical Control of a Quad Tilt-Wing UAV Efe Sırımoğlu, MS Thesis, Sabancı University, August 2010 6. Delay Compensation in Bilateral Teleoperation Using Predictor Observers Tuğba Leblebici, MS Thesis, Sabancı University, August 2010 7. GPS Based Position Control and Waypoint Navigation of a Quad Tilt-Wing UAV Cevdet Hançer, MS Thesis, Sabancı University, August 2010 8. Modeling and Control of a New Unmanned Aerial Vehicle (SUAVI) with Tilt-Wing Mechanism Kaan Taha Öner, MS Thesis, Sabancı University, 2009 9. Motion Estimation of Planar Curves and Their Alignment Using Visual Servoing Ahmet Yasin Yazıcıoğlu, MS Thesis, Sabancı University, 2009 10. Statistical Facial Feature Extraction and Lip Segmentation Mustafa Berkay Yılmaz, MS Thesis, Sabancı University, 2009 (Co-Supervisor) 11. Novel Estimation and Control Techniques in Micromanipulation Using Vision and Force Feedback Hakan Bilen, MS Thesis, Sabancı University, 2008 12. 3D Reconstruction, Classification and Mechanical Characterization of Microstructures Muhammet Ali Hocaoğlu, MS Thesis, Sabancı University, 2008 13. Formation Control of Multiple Mobile Robots Using Parametric and Implicit Representations Yeşim Hümay Esin, MS Thesis, Sabancı University, 2008 14. Visually Aided Force Control with Fuzzy Parameter Tuning Berk Çallı, MS Thesis, Sabancı University, 2008 (Co-Supervisor) 15. Model Free Visual Servoing in Macro and Micro Domain Robotic Applications Erol Özgür, MS Thesis, Sabancı University, 2007 16. Automation of Relaxation-Retraction Measurement Zeynel Abidin Fincan, MS Thesis (LFI Program), Sabanci University, 2007 17. Design and Implementation of a Vision System for Microassembly Workstation Eray Doğan, MS Thesis, Sabancı University, 2006 18. Modeling and Control of the Coordinated Motion of a Group of Autonomous Mobile Robots Nusrettin Güleç, MS Thesis, Sabancı University, 2005 19. A Sliding Mode Approach to Visual Motion Estimation Burak Yılmaz, MS Thesis, Sabancı University, 2005 (Co-Supervisor) 20. Different Approaches on the Implementation of Implicit Polynomials in Visual Tracking Burak Kemal Yöndem, MS Thesis, Sabancı University, 2005 (Co-Supervisor) 21. Affine Invariant Normalization and Modeling of 2D/3D Objects Using EFD Based Implicit Polynomials Sait Şener, MS Thesis, Gebze Institute of Technology, 2004 22. Character Recognition Using Closed-Bounded Algebraic Curves Sema Candemir, MS Thesis, Gebze Institute of Technology, 2004 23. Decomposition of Implicit Polynomial Equations for Object Recognition and Comparison Ömer Kayaaltı, MS Thesis, Gebze Institute of Technology, 2003 24. 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. Design and Prototyping of a Small Sized Quadrotor, C. Karahasonoğlu, O. Gözek, C. Özenel, Sabancı University, June 2011. 2. Hierarchical Control of a Quadrotors Using GPS and Vision, O. Y. Çokay, Sabancı University, June 2011. 3. Time Delay Compensation in Bilateral Teleoperation, E. Çalışgan, Sabancı University, June 2010. 4. Design and Prototyping of a Quadrotor, A. Şahinöz, M. Gülhan, Sabancı University, June 2010. 5. Mechanical Design of a Tilt-Wing UAV, O. Aydoğdu, Sabancı University, June 2010. 6. Sensor and Actuator Integration of a UAV for Autonomous Flight Control, Y. Tüzel, E. Tanrıverdi, Sabancı University, June 2010. 7. Actuator Tests for the Control of a Quadrotor, Ö. R. Kemaloğlu, A. Cezzar, D. H. Aktaş, Sabancı University, June 2010. 8. Autonomous Mobile Robots with Vision Sensing, S. Dikyar, F. Mutluel and C. Çakır, Sabancı University, June 2009. 9. Modeling and Control of an Unmanned Aerial Vehicle (UAV) with Tilt-Wing Mechanism, T. Ayken, Sabancı University, June 2009. 10. Maze Solving Robot, O. O. Eroğlu and İ. H. Altuntaş, Sabancı University, June 2009. 11. Wave Based Control of a Toothed Belt System, E. C. Arslan, Sabancı University, January 2009. 12. Multi-camera Tracking of Fish in Aquarium, S. Satır, Sabancı University, June 2008. 13. Design and Construction of an Experimental Facility for Unmanned Aerial Vehicles, C. Hançer, E. Çalıkoğlu, E. Duman, E. Baran, Sabancı University, June 2008. 14. Audio-Visual Speech Recognition, H. Şirin, Sabancı University, June 2007. 15. Visual Control of a Direct Drive Robot, F. M. Özkeskin, E. Arslanturk, O. Kurugöl and G. Berkan, Sabancı University, June 2006. 16. Ball Cathing Direct Drive SCARA Robot, H. A. Varol, A. F. Tabak, M. Fidanoğlu and U. Tümerdem, Sabancı University, June 2005. 17. A Modular Snake Robot with Pneumatic Pistons, M. Degirmenci, G. T. Kursun, İ. K. Gunes, Sabanci University, June 2005. 18. A Modular Snake Robot with Pneumatic Cylinders, M. Yilmaz, Y. Kulak, S. Dundar, Sabanci University, June 2005. 19. Turbine Blade Reverse Engineering, A. M. Vuruşkan and N. D. Bozgeyik, Sabancı University, June 2005. 20. Visual Servoing of Nonholonomic Mobile Robots, C. Şahin, A. M. Oymagil, Sabancı University, June 2005. Alumni Ahmet Yasin Yazıcıoğlu (PhD Student, Georgia Institute of Technology, USA) Sarp Satır (PhD Student, Georgia Institute of Technology, USA) Hakan Bilen (PhD Student, Catholic University of Leuven, Belgium) Berk Çallı (PhD Student, Delft University of Technology, Netherlands) Erol Özgür (PhD Student, Blaise Pascal University, France) Burak Yılmaz (PhD student, Northeastern University) Sema Candemir (Postdoctoral Researcher, Dept. of Computer Science, Univ. of Missouri-Columbia, USA) Ertuğrul Çetinsoy (Asst. Prof., Istanbul Commerce University) Ömer Kayaaltı (Faculty Member, Erciyes University, Kayseri) Ahmet Şahinöz (MS Student, Carnegie Mellon University, USA) Mert Gülhan (MS Student, Carnegie Mellon University, USA) Cevdet Hançer (Unilever) Efe Sırımoğlu (Aselsan) Serhat Dikyar (Ford Otosan) Tuğba Leblebici (Vestel Defence Industry Co.) Kaan T. Öner (Vistek ISRA Vision) Mustafa Berkay Yılmaz (PhD Student, Sabancı University) Yeşim Hümay Esin (Robotics Engineer, GE Marmara Technology Center) Eray Doğan (System Engineer, Roketsan, Ankara/Istanbul) Nusrettin Güleç (System Engineer, SDT Space and Defense Technologies, Ankara) Burak Kemal Yöndem (Turkcell, Istanbul) Sait Şener (Nortel Netaş Telekomünikasyon A.Ş., Istanbul) Publications Edited Books Book Chapters Journal Articles Papers in Conference Proceedings Papers in National Conference Proceedings Theses