Journal Papers

1. Angle-based multi-goal ordering and path-planning using an improved A* algorithm, A. Allus, M. Unel, Robotics and Autonomous Systems, Vol. 190, Article 105001, August 2025.

2. An Explainable AI Approach for Detecting Failures in Air Pressure Systems, S. M. Farea, M. E. Mumcuoglu, M. Unel, Engineering Failure Analysis, Vol. 173, Article 109441, May 2025.

3. Motion Planning and Path Following for Autonomous Navigation and Reversing of a Full-Scale Mining Truck and Trailer System, E. Aydemir, M. Unel, International Journal of Automotive Technology, Vol. 26, No: 3, pp. 595-606, May 2025.

4. GPENS: Ground Plane Estimation and Navigation System for Autonomous Mining Trucks, E. Aydemir, M. Unel, International Journal of Automotive Technology, Article Number: 107419, 2025 (In Press).

5. Detecting APS failures using LSTM-AE and anomaly transformer enhanced with human expert analysis, M. E. Mumcuoglu, S. M. Farea, M. Unel, S. Mise, S. Unsal, E. Cevik, M. Yilmaz and K. Koprubasi, Engineering Failure Analysis, Vol. 165, Article number 108811, November 2024.

6. Enhancing automated fiber placement process monitoring and quality inspection: A hybrid thermal vision based framework, M. Zemzemoglu, M. Unel, L. T. Tunc, Composites Part B: Engineering, Vol. 285, Article number: 111753, October 2024.

7. Development of a Vision Based Pose Estimation System for Robotic Machining and Improving its Accuracy Using LSTM Neural Networks and Sparse Regression, D. K. Bilal, M. Unel, T. Tunc, B. Gonul, Robotics and Computer-Integrated Manufacturing, Vol. 74, Article number :102262, April 2022.  

8. Increasing Trajectory Tracking Accuracy of Industrial Robots Using SINDYc, D. K. Bilal, M. Unel, IFAC-PapersOnline, Vol. 54, Issue: 4, pp. 13-18, July 2021.

9. Diesel Engine Airpath Controller via Data Driven Disturbance Observer, V. Aran, M. Unel, International Journal of Automotive Technology, Vol. 21, No:4, pp.971-980, August 2020.

10. Realtime Localization and Estimation of Loads on Aircraft Wings from Depth Images, D. K. Bilal, M. Unel, M. Yildiz, B. Koc, Sensors, 20 (12), 3405, June 2020.

11. Optimization-Oriented High Fidelity Indicated Torque Estimations for Diesel Engines Using NFIR Models, G. Alcan, M. Unel, V. Aran, M. Yilmaz, C. Gurel and K. Koprubasi, International Journal of Automotive Technology, Vol. 21, No: 3, pp. 729-737, June 2020.

12. Robust Trajectory Control of an Unmanned Aerial Vehicle Using Acceleration Feedback, H. Zaki, G. Alcan, M. Unel, International Journal of Mechatronics and Manufacturing Systems, Vol. 12, No. 3-4, pp. 298-317, 2019.

13. Estimating Soot Emission in Diesel Engines Using Gated Recurrent Unit Networks, G. Alcan, E. Yilmaz, M. Unel, V. Aran, M. Yilmaz, C. Gurel, K. Koprubasi, IFAC-PapersOnline, Vol. 52, Issue: 5, pp. 544-549, September 2019.

14. An Acceleration-Based Hybrid Learning-Adaptive Controller for Robot Manipulators, S. Evren, M. Unel, Transactions of the Institute of Measurement and Control, Vol. 41, No. 8, pp. 2114-2123, May 2019.

15. Predicting NOx Emissions in Diesel Engines via Sigmoid NARX Models Using a New Experiment Design for Combustion Identification, G. Alcan, M. Unel, V. Aran, M. Yilmaz, C. Gurel, K. Koprubasi, Measurement, Vol. 137, pp. 71-81, April 2019.

16. Remaining Useful Life Prediction of Laminated Composite Materials Using Thermoelastic Stress Analysis, R. Marques, M. Unel, M. Yildiz, A. Suleman, Composite Structures, Vol. 210, pp. 381-390, February 2019.

17. Gaussian Process Regression Feedforward Controller for Diesel Engine Airpath, V. Aran, M. Unel, International Journal of Automotive Technology, Vol. 19, No: 4, pp. 635-642, August 2018.

18. Biomedical Device Prototype Based on Small Scale Hydrodynamic Cavitation, M. Ghorbani, C. Sozer, G. Alcan, M. Unel, S. Ekici, H. Uvet, A. Kosar, AIP Advances, Vol. 8, Issue: 3, Article Number: 035108, March 2018.

19. Characterization and Pressure Drop Correlation for Sprays under the Effect of Micro Scale Cavitation, M. Ghorbani, G. Alcan, A. K. Sadaghiani, A. Mohammadi, M. Unel, D. Gozuacik, A. Kosar, Experimental Thermal and Fluid Science, Vol. 91, pp. 89-102, February 2018.

20. Diesel Engine NOx Emission Modeling Using a New Experiment Design and Reduced Set of Regressors, G. Alcan, M. Unel, V. Aran, M. Yilmaz, C. Gurel, K. Koprubasi, IFAC-PapersOnline, Vol. 51, Issue: 15, pp. 168-173, January 2018.

21. High Precision Stabilization of Pan-Tilt Systems Using Reliable Angular Acceleration Feedback from a Master-Slave Kalman Filter, S. Evren, M. Unel, Journal of Intelligent and Robotic Systems, Vol. 88, Issue: 1, pp. 97–127 2017, October 2017.

22. Nonlinear Hierarchical Control of a Quad-Tilt-Wing UAV: An Adaptive Control Approach, Y. Yildiz, M. Unel, A. E. Demirel, International Journal of Adaptive Control and Signal Processing, Vol. 31, Issue: 9, pp. 1245-1264, September 2017.

23. Visualization of Microscale Cavitating Flow Regimes via Particle Shadow Sizing Imaging and Vision Based Estimation of the Cone Angle, M. Ghorbani, G. Alcan, M. Unel, D. Gozuacik, S. Ekici, H. Uvet, A. Sabanovic, A. Kosar, Experimental Thermal and Fluid Science, Vol. 78, pp. 322–333, November 2016.

24. A New Visual Tracking Method for the Analysis and Characterization of Jet Flow, G. Alcan, M. Ghorbani, A. Kosar, M. Unel, Flow Measurement and Instrumentation, Vol. 51, pp. 55-67, October 2016.

25. Assessment of Probe-to-Specimen Distance Effect in Kidney Stone Treatment with Hydrodynamic Cavitation, D. Uzusen, E. Demir, O. Y. Perk, O. Oral, S. Ekici, M. Unel, D. Gozuacik, A. Kosar, Journal of Medical Devices, Vol. 9, Issue: 3, Article Number: 031001, September 2015.

26. Planar Formation Control of Swarm Robots Using Dynamical Elliptic Fourier Descriptors, S. Evren, M. Unel, Transactions of the Institute of Measurement and Control, Vol. 37, No. 5, pp. 661-671, May 2015.

27. Visualization and Image Processing of Spray Structure Under the Effect of Cavitation Phenomenon, M. Ghorbani, G. Alcan, D. Yilmaz, M. Unel, A. Kosar, Journal of Physics: Conference Series, Vol. 656, Article Number: 012115, 2015.

28. A New Approach to Real-Time Mosaicing of Aerial Images, T. Kekec, A. Yildirim, M. Unel, Robotics and Autonomous Systems, Vol. 62, No.12, pp. 1755-1767, December 2014.

29. Modeling and Control of a Variable Speed Variable Pitch Angle Prototype Wind Turbine, S. Evren, M. Unel, M. F. Aksit, Mathematical and Computational Applications, Vol. 18, No. 3, pp. 408-420, 2013.

30. Real-time Multiple Object Tracking using Virtual Shells, T. Kekec, M. Unel, H. Erdogan, Mathematical and Computational Applications, Vol. 18, No. 3, pp. 373-382, 2013.

31. Performance Improvement in VSLAM Using Stabilized Feature Points, C. Sahin, M. Unel, Mathematical and Computational Applications, Vol. 18, No. 3, pp. 361-372, 2013.

32. Aerodynamic Design and Characterization of a Quad Tilt-Wing UAV via Wind Tunnel Tests, E. Cetinsoy, C. Hancer, K. T. Oner, E. Sırımoglu, M. Unel, Journal of Aerospace Engineering, Vol. 25, No. 4, pp. 574-587, October 2012.

33. Design and Construction of a Novel Quad Tilt-Wing UAV, E. Cetinsoy, S. Dikyar, C. Hancer, K. T. Oner, E. Sırımoglu, M. Unel, M. F. Aksit, Mechatronics, Vol. 22, No. 6, pp. 723-745, September 2012.

34. Facial Feature Extraction Using a Probabilistic Approach, M. B. Yilmaz, H. Erdogan, M. Unel, Signal Processing: Image Communication, Vol. 27, No. 6, pp. 678-693, July 2012.

35. Mathematical Modeling and Vertical Flight Control of a Tilt-Wing UAV, K. T. Oner, E. Cetinsoy, E. Sırımoglu, C. Hancer, M. Unel, M. F. Aksit, Turkish Journal of Electrical Engineering and Computer Sciences, Vol. 20, No. 1, pp. 149-157, January 2012.

36. Developing Robust Vision Modules for Microsystems Applications, H. Bilen, M. A. Hocaoglu, M. Unel, A. Sabanovic, Machine Vision and Applications, Vol. 23, No. 1, pp. 25-42, January 2012.

37. Delay Compensation in Bilateral Control Using a Sliding Mode Observer, B. Calli, T. Leblebici, M. Unel, A. Sabanovic, S. Bogosyan, M. Gokasan, Turkish Journal of Electrical Engineering and Computer Sciences, Vol. 19, No.6, pp. 851-859, November 2011.

38. Design and Development of a Tilt-Wing UAV, E. Cetinsoy, E. Sırımoglu, K. T. Oner, C. Hancer, M. Unel, M. F. Aksit, Turkish Journal of Electrical Engineering and Computer Sciences, Vol. 19, No.5, pp. 733-741, September 2011.

39. 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, Turkish Journal of Electrical Engineering and Computer Sciences, Vol. 19, No.5, pp. 725-731, September 2011.

40. 3D Object Recognition Using Invariants of 2D Projection Curves, M. Unel, O. Soldea, E. Ozgur, A. Bassa, Pattern Analysis and Applications, Vol. 13, Issue. 4, pp. 451-468, November 2010.

41. Modeling and Estimation of the Dynamics of Planar Algebraic Curves via Riccati Equations, M. Unel, B. K. Ghosh, A. Y. Yazicioglu, Journal of Mathematical Imaging and Vision, Vol. 38, No.2, pp. 139-158, October 2010.

42. Experimental Evaluation of Sliding Mode and EKF Observers for Network Delay Compensation in Bilateral Control, S. Bogosyan, B. Gadamsetty, M. Gokasan, A. Sabanovic, M. Unel, International Review of Electrical Engineering, Vol. 5, No. 5, pp. 2484-2493, October 2010.

43. Formation Control of Nonholonomic Mobile Robots Using Implicit Polynomials and Elliptic Fourier Descriptors, Y. H. Esin, M. Unel, Turkish Journal of Electrical Engineering and Computer Sciences, Vol. 18, No.5, pp. 765-780, September 2010.

44. Recursive Computation of Moments of 2D Objects Represented by Elliptic Fourier Descriptors, O. Soldea, M. Unel, A. Ercil, Pattern Recognition Letters, Vol. 31, No. 11, pp. 1428-1436, August 2010.

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

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

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

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

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

50. 2D Shape Tracking Using Algebraic Curve Spaces, B. Yondem, M. Unel, A. Ercil, Lecture Notes in Computer Science (LNCS), Vol. 3733, pp. 698-707, Springer-Verlag, 2005.

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

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

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

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

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

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

57. 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, pp. 65-87, January 2000.

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

59. The Determination of Implicit Polynomial Canonical Curves, W. A. Wolovich, M. Unel, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 20, No. 10, pp. 1080-1089, October 1998.

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

1.

2.

3.

4.

5.

6.

7.

8.

9.

10.

11.

12.

13.

14.

15.

16.

17.

18.

19.

20.

21.

22.

23.

24.

25.

26.

27.

28.

29.