Publications

Edited Volume

1.        Proceedings of National Automatic Control Conference, Editor: M. Unel, Sabanci University, Istanbul, Sept. 5-7, 2007.

Book Chapters

1.        Vision-Based System Identification and State Estimation, W. A. Wolovich, M. Unel, Lecture Notes in Control and Information Sciences (LNCIS-237), Springer Verlag, New York: 1998.

 

2.        A New Representation for Quartic Curves and Complete Sets of Geometric Invariants, M. Unel, W. A. Wolovich, Chapter 3 of Invariants for Pattern Recognition and Classification, World Scientific Series on Machine Perception & Artificial Intelligence, Vol. 42, 2000.

 

3.        Micromanipulation Using a Microassembly Workstation with Vision and Force Sensing, H. Bilen, M. Unel, Advanced Intelligent Computing Theories and Applications (LNCS-5226), pp. 1191-1198, Springer-Verlag, Berlin Heidelberg 2008.

 

4.        Formation Control of Multiple Robots Using Parametric and Implicit Representations, Yesim. H. Esin, M. Unel, M. Yildiz, Advanced Intelligent Computing Theories and Applications (LNAI-5227), pp. 558-565, Springer-Verlag,  Berlin Heidelberg 2008.

 

5.        HK Segmentation of 3D Micro-structures Reconstructed from Focus, M. Hocaoglu, M. Unel, Advanced Intelligent Computing Theories and Applications (LNCS-5226), pp. 1200-1207, Springer-Verlag, Berlin Heidelberg 2008.

Journal Papers

1.        The Determination of Implicit Polynomial Canonical Curves, W. A. Wolovich, M. Unel, IEEE Trans. Pattern Analysis and Machine Intelligence, Vol. 20, No. 10, October 1998, 1080-1089 (SCI)

 

2.        Pose Estimation and Object Identification Using Complex Algebraic Representations, M. Unel, W. A. Wolovich, Pattern Analysis and Applications, Vol 1. Issue:3, 1998, 178-188 (SCI)

 

3.        A New Representation for Quartic Curves and Complete Sets of Geometric Invariants, M. Unel, W. A. Wolovich, Int. Journal of Pattern Recognition and Artificial Intelligence, Vol.13, No. 8, December 1999, 1137-1149 (SCI)

 

4.        On the Construction of Complete Sets of Geometric Invariants for Algebraic Curves, M. Unel, W. A. Wolovich, Advances in Applied Mathematics, Vol. 24, No. 1, January 2000, 65-187 (SCI)

 

5.        Implicitization of Parametric Curves by Matrix Annihilation, H. Yalcin, M. Unel, W. A. Wolovich, International Journal of Computer Vision, Vol. 54, Issue:1/2, 2003, 105-115 (SCI)

 

6.        An Adaptive Estimation Method for Rigid Motion Parameters of 2D Curves, T. Sahin, M. Unel, Lecture Notes in Computer Science (LNCS-3212), Springer-Verlag, 2004, 355-362 (SCI)

 

7.        Character Recognition Using Canonical Invariants, S. Doguscu, M. Unel, Lecture Notes in Computer Science (LNCS-3211), Springer-Verlag, 2004, 432-439 (SCI)

 

8.        A New Affine Invariant Fitting Algorithm for Algebraic Curves, S. Sener, M. Unel, Lecture Notes in Computer Science (LNCS-3211), Springer-Verlag, 2004, 344-351 (SCI)

 

9.        Globally Stabilized 3L Curve Fitting, T. Sahin, M. Unel, Lecture Notes in Computer Science (LNCS-3211), Springer-Verlag, 2004, 495-502 (SCI)

 

10.     2D Shape Tracking Using Algebraic Curve Spaces, B. Yondem, M. Unel, A. Ercil, Lecture Notes in Computer Science (LNCS-3733), Springer-Verlag, 2005, 698-707 (SCI)

 

11.     A Novel Algorithm for the Coordination of Multiple Mobile Robots, N. Gulec, M. Unel, Lecture Notes in Computer Science (LNCS-3733), Springer-Verlag, 2005, 422-431 (SCI)

 

12.     Affine Invariant Fitting of Algebraic Curves Using Fourier Descriptors, S. Sener, M. Unel, Pattern Analysis and Applications, Vol:8, Issue:1/2, 2005, 72-83 (SCI)

 

13.     Geometric Invariant Curve and Surface Normalization, S. Sener, M. Unel, Lecture Notes in Computer Science (LNCS-4142), Springer-Verlag, 2006, 445-456 (SCI)

 

14.     ICA Based Normalization of 3D Objects, S. Sener, M. Unel, Lecture Notes in Computer Science (LNCS-4105), Springer-Verlag, 2006, 330-337 (SCI)

 

15.     Visual Motion and Structure Estimation Using Sliding Mode Observers, M. Unel, A. Sabanovic, B. Yilmaz, E. Dogan, Int. Journal of Systems Science, Vol. 39, No.2, February 2008, 149-161 (SCI)

 

16.     Stable Algebraic Surfaces for 3D Object Representation, T. Sahin, M. Unel, Journal of Mathematical Imaging and Vision, Vol. 32, No.2, October 2008, 127-137 (SCI)

 

17.     Design, Production and Sensor-Actuator Integration of the Unmanned Aerial Vehicle SUAVI, E. Cetinsoy, E. Sırımoglu, K. T. Oner, C. Hancer, T. Ayken, M. Unel, M. F. Aksit, K. Gulez, İ. Kandemir, TJEECS-Turkish Journal of Electrical Engineering and Computer Sciences (accepted for publication), December 2009 (SCI)

 

18.     Modeling and Control of the Unmanned Aerial Vehicle SUAVI, K. T. Oner, E. Cetinsoy, E. Sırımoglu, C. Hancer, T. Ayken, M. Unel, M. F. Aksit, K. Gulez, İ. Kandemir, TJEECS-Turkish Journal of Electrical Engineering and Computer Sciences (accepted for publication), December 2009 (SCI)

 

19.     Compensation of Communication Delay in Bilateral Control Using Sliding Mode Observer, B. Calli, T. Leblebici, M. Unel, A. Sabanovic, S. Bogosyan, M. Gokasan, TJEECS-Turkish Journal of Electrical Engineering and Computer Sciences (accepted for publication), December 2009 (SCI)

 

20.     Design and Control of the Humanoid Robot SURALP, K. Erbatur, U. Seven, E. Taskiran, O. Koca, M. Yilmaz, M. Unel, G. Kiziltas, A. Sabanovic and A. Onat, TJEECS-Turkish Journal of Electrical Engineering and Computer Sciences (accepted for publication), December 2009 (SCI)

 

21.     Recursive Computation of Moments of 2D Objects Represented by Elliptic Fourier Descriptors, O. Soldea, M.Unel, A. Ercil, Pattern Recognition Letters (accepted for publication), February 2010.

 

Conference Papers

1.        Probabilistic Facial Feature Extraction Using Joint Distribution of Location and Texture Information, M. B. Yilmaz, H. Erdogan, M. Unel, Proceedings of the 5th International Symposium on Visual Computing (ISVC09), Las Vegas, Nevada, USA, November 30 - December 2, 2009.

 

2.        LQR and SMC Stabilization of a New Unmanned Aerial Vehicle, K. T. Oner, E. Cetinsoy, E. Sirimoglu, C. Hancer, T. Ayken, M. Unel,  Proceedings of World  Academy of Science, Engineering and Technology, International Conference on Intelligent Control, Robotics, and Automation (ICICRA 2009), Venice, Italy, October 28-30, 2009.

 

3.        Image Based Visual Servoing Using Algebraic Curves Applied to Shape Alignment, A. Y. Yazıcıoglu, B. Çallı, M. Unel, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS 2009), St. Louis, MO, USA, Oct. 11-15, 2009.

 

4.        SURALP: A New Full-Body Humanoid Robot Platform, K. Erbatur, U. Seven, E. Taskiran, O. Koca, M. Yilmaz, M. Unel, G. Kiziltas, A. Sabanovic, A. Onat, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS 2009), St. Louis, MO, USA, Oct. 11-15, 2009.

 

5.        Visually Aided Force Control with Fuzzy Parameter Tuning, B. Calli, K. Erbatur,  M. Unel, Proceedings of the 2nd IFAC International Conference on Intelligent Control Systems and Signal Processing, Istanbul, Turkey, September 21-23, 2009.

 

6.        Novel Parameter Estimation Schemes in Microsystems, Proceedings of IEEE International Conference on Robotics and Automation (ICRA’09), Kobe, Japan, May 12-17, 2009.

 

7.        Modeling and Position Control of a New Quad-rotor Unmanned Aerial Vehicle with Tilt-Wing Mechanism, International Conference on Control, Automation, Robotics and Vision (ICCARV’08), Proceedings of World  Academy of Science, Engineering and Technology, Volume 36, November 2008, Laval, France, November 21-23, 2008.

 

8.        Evolving Implicit Polynomial Interfaces, E. Ozgur, M. Unel, H. Erdogan, A. Ercil, Proceedings of British Machine Vision Conference (BMVC’08), Sept. 1-4, Leeds, UK, 2008.

 

9.        Lip Segmentation Using Adaptive Color Space Training, E. Ozgur, B. Yilmaz, H. Karabalkan, H. Erdogan, M. Unel, Proceedings of International Conference on Auditory-Visual Speech Processing (AVSP’08), Sept. 26-29, Tangalooma, Australia, 2008.

 

10.     A Comparative Study of Conventional Visual Servoing Schemes in Microsystem Applications, H. Bilen, M. Hocaoglu, E. Ozgur, M. Unel, A. Sabanovic, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE IROS 2007), San Diego, CA USA, Oct. 29-Nov. 2, 2007.

 

11.     Positioning and Trajectory Following Tasks in Microsystems Using Model Free Visual Servoing, E. Ozgur, M. Unel, Proceedings of IEEE International Conference on Industrial Electronics, (IECON 2007), Taipei, Taiwan, Nov. 5-8, 2007.

 

12.     Image Based Visual Servoing Using Bitangent Points Applied to Planar Shape Alignment, E. Ozgur, M. Unel, Proceedings of the 13th IASTED International Conference on Robotics and Applications (RA’07), Würzburg, Germany, August 29-31, 2007.

 

13.     Model-Based vs. Model-Free Visual Servoing: A Performance Evaluation in Microsystems, M. Hocaoglu, H. Bilen, E. Ozgur, M. Unel, Proceedings of the 13th IASTED International Conference on Robotics and Applications (RA’07), Würzburg, Germany, August 29-31, 2007.

 

14.     A New Affine Invariant Curve Normalization Technique Using Independent Component Analysis, S. Sener, M. Unel, Proceedings of the 18th International Conference on Pattern Recognition (ICPR 2006), Hong Kong, August 20-24, 2006.

 

15.     A Sliding Mode Approach to Visual Motion Estimation, E. Dogan, B. Yilmaz, M. Unel, A. Sabanovic, Proceedings of the 9th International Workshop on Advanced Motion Control (AMC'06), March 27-29, 2006.

 

16.     Coordinated Task Manipulation by Nonholonomic Mobile Robots, N. Gulec, M. Unel, A. Sabanovic, Proceedings of the 9th International Workshop on Advanced Motion Control (AMC'06), March 27-29, 2006.

 

17.     A Novel Coordination Scheme Applied to Nonholonomic Mobile Robots, N. Gulec, M. Unel, Proceedings of the Joint 44th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC'05), Seville, Spain, December 12-15, 2005.

 

18.     Coordinated Motion of Autonomous Mobile Robots Using Nonholonomic Reference Trajectories, N. Gulec, M. Unel, Proceedings of the 31st Annual Conference of the IEEE Industrial Electronics Society (IECON 2005), Raleigh, North Carolina, November 6-10, 2005.

 

19.     Fitting Globally Stabilized Algebraic Surfaces to Range Data, T. Sahin, M. Unel, Proceedings of the 10th IEEE International Conference on Computer Vision (ICCV'05), Beijing, China, October 15-21, 2005.

 

20.     Free-Form Planar Curve Tracking Using Related Points, B. Yondem, M. Unel, A. Ercil, Proceedings of 13th European Signal Processing Conference (EUSIPCO 2005), Antalya, Turkey, September 4-8, 2005.

 

21.     Rigid and Affine Motion Estimation in Vision Using Sliding Mode Observers, B. Yilmaz, M. Unel, A. Sabanovic, Proceedings of IEEE International Symposium on Industrial Electronics (ISIE 2005), Dubrovnik, Croatia, June 23-25, 2005.

 

22.     Motion Estimation of Plane Polynomial Curves, M. Unel, B. K. Ghosh, Proceedings of American Control Conference 2005 (ACC 2005), June 8-10, 2005.

 

23.     Motion Identification of Planar Free-Form Objects, M. Unel, B. K. Ghosh, Proceedings of IASTED International Conference on Modeling, Identification and Control (MIC 2005), February 15-18, 2005.

 

24.     Implicitization of Parametric Curves by Matrix Annihilation, H. Yalcin, M. Unel, W. A. Wolovich, Proceedings of IEEE International Conference on Image Processing (ICIP-02), Rochester, New York, September 2002.

 

25.     Dynamic Models of Planar Algebraic Curves, M. Unel, B. K. Ghosh, Proceedings of IEEE International Conference on Decision and Control (CDC’01), December 2001.

 

26.     A Complete Set of Geometric Invariants for Algebraic Curves, M. Unel, W. A. Wolovich, Proceedings of ICIAM'99, International Conference on Industrial and Applied Mathematics, Edinburgh, Scotland, July 4-9, 1999.

 

27.     The Shape of Multi-Body Motion, W. A. Wolovich, M. Unel, Nancy Polard and Elena Zattoni, Proceedings of ICRAM '99, International Conference on Recent Advances in Mechatronics, Istanbul, Turkey, May 24-26, 1999.

 

28.     Shape Control Using Primitive Decompositions, M. Unel, W. A. Wolovich, Proceedings of SMI '99, Proceedings of International Conference on Shape Modeling and Applications, Aizu-Wakamatsu, Japan, March 1-4, 1999.

 

29.     Fitting Circle Polynomials to Planar Objects, M. Unel, W. A. Wolovich, Proceedings of the First Workshop on Computer Vision, Pattern Recognition and Image Processing, Research Triangle Park, North Carolina, October 23, 1998.

 

30.     Complex Representation of Algebraic Curves, M. Unel, W. A. Wolovich, Proceedings of ICIP-98, IEEE International Conference on Image Processing, Chicago, October 4-7, 1998.

National Journal Papers

1.        Related-Point Ratio Invariants of a Sixth Degree Algebraic Curve, Ö. Kayaaltı, M. Unel, Journal of Naval Science and Engineering, Vol. 1, Issue:1, 2003.

National Conference Papers

1.        Yeni Bir İnsansız Hava Aracının (SUAVİ)  Prototip Üretimi ve Algılayıcı-Eyleyici Entegrasyonu, TOK’09: Otomatik Kontrol Ulusal Toplantısı, İstanbul, 13-16 Ekim 2009.

 

2.        Döner-Kanat Mekanizmasına Sahip Yeni Bir İnsansız Hava Aracının (SUAVİ) Modellenmesi ve Kontrolü, TOK’09: Otomatik Kontrol Ulusal Toplantısı, İstanbul, 13-16 Ekim 2009.

 

3.        İki Yönlü Denetimde İletişim Kanalındaki Gecikmenin Kayan Kipli Gözlemci Kullanarak Telafisi, TOK’09: Otomatik Kontrol Ulusal Toplantısı, İstanbul, 13-16 Ekim 2009.

 

4.        Cebirsel Eğriler Kullanarak İmge Tabanlı Görsel Geri Beslemeli Denetim, TOK’09: Otomatik Kontrol Ulusal Toplantısı, İstanbul, 13-16 Ekim 2009.

 

5.        Konum ve Doku Bilgisinin Ortak Dağılımını Kullanarak Yüz Özniteliklerinin İstatistiksel Çıkarımı, M. B. Yilmaz, H. Erdogan, M. Unel, IEEE 17. Sinyal İşleme ve İletişim Uygulamaları Kurultayı, Antalya, Nisan 2009.

 

6.        Yeni Bir İnsansız Hava Aracının (SUAVi) Mekanik ve Aerodinamik Tasarımı, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

7.        Yeni Bir İnsansız Hava Aracının (SUAVi) Dikey Uçuş Kipi İçin Dinamik Modeli ve Yörünge Kontrolü, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

8.        İnsansız Hava Araçları için Test Düzeneği Tasarımı ve Üretimi, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

9.        Esnek Mekanik Sistemler için Birleştirilmiş Dalga Tabanlı Kontrol ve Bozucu Etken Gözlemleyicisi, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

10.     Ölçekten Bağımsız Öznitelik Dönüşümü (SIFT) Kullanımıyla 4 Serbestlik Dereceli Görüntü Tabanlı Görsel Geri Beslemeli Kontrol, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

11.     Mobil Robotların Eliptik Fourier Tanımlayıcılar ve Örtük Polinomlar Kullanılarak Formasyon Kontrolü, TOK’08: Otomatik Kontrol Ulusal Toplantısı, İstanbul Teknik Üniversitesi, 13-15 Kasım 2008.

 

12.     İki Noktada Teğetler Kullanarak Görüntü Tabanlı Görsel Geri Beslemeli Kontrol ile Düzlemsel Şekil Hizalama, E. Ozgur, M. Unel, TOK’07 Otomotik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 5-7 Eylül 2007.

 

13.     Çok Gövdeli Sistemlerde Hareket Analizi, N. Güleç, E. Doğan, M. Unel, TOK’07 Otomotik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 5-7 Eylül 2007.

 

14.     Görsel Geri Beslemeli Kontrol Tekniklerinin Mikrosistem Uygulamalarında Karşılaştırılması, H. Bilen, M. Hocaoglu, E. Ozgur, M. Unel, TOK’07 Otomotik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 5-7 Eylül 2007.

 

15.     İçbükey Eşleştirmeleriyle Nesne Tanıma, E. Ozgur, M. Unel, IEEE 14. Sinyal İşleme ve İletişim Uygulamaları Kurultayı, Antalya, Türkiye, April 2006.

 

16.     Doğrudan Sürüşlü Scara Robotun Görsel Geri Beslemeli Gerçek Zamanlı Kontrolü, O. Kurugol, E. Arslantürk, G. Berkan, M. Unel, K. Erbatur,   TOK’06 Otomotik Kontrol Ulusal Toplantısı, Ankara, Türkiye, 6-8 Kasım 2006.

 

17.     Sanal Referans Yörüngeler Kullanılarak Bir Grup Mobil Robotun Koordinasyonu, N. Güleç, M. Ünel, TOK’05 Otomotik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 2-3 Haziran 2005.

 

18.     Görsel Geri Besleme Ve Kayma Kipli Gözlemciler Kullanarak Hareket Kestirimi, B. Yılmaz, M. Ünel, A. Sabanovic, TOK’05 Otomotik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 2-3 Haziran 2005.

 

19.     Serbest Şekilli Nesnelerin SCARA Robotun Görme Tabanlı Denetimi ile Manipülasyonu, A. Varol, U. Tümerdem, M.Ünel, TOK’05 Otomatik Kontrol Ulusal Toplantısı, İstanbul, Türkiye, 2-3 Haziran 2005.

PhD Thesis

Polynomial Decompositions for Shape Modeling, Object Recognition and Alignment, M. Unel, Ph.D. Thesis, Brown University, May 1999.

MS Thesis

Control of a Direct Drive Robot Arm, M. Unel, M.S. Thesis, Boğaziçi University, June 1996.