PROF. ERDINC ALTUG

 

Faculty of Mechanical Engineering

Istanbul Technical University

 

 

 altuger@itu.edu.tr                          

 

Address: İTÜ Makina Fakültesi, Office 443, İnönü Caddesi, No:65, Beyoğlu Istanbul 34437 TURKEY

Tel.:     +90 (212) 293-1300 / 2469

Fax:     +90 (212) 245 0795

Education

Ph.D. 

University of Pennsylvania (GRASP Lab.), Philadelphia, PA, USA

M.S.

Carnegie Mellon University, Pittsburgh, PA, USA

B.S.

Middle East Technical University, Ankara, TURKEY

Performances

citations 

2758

h-index

18

i10-index

22

 

Suvervising

1 Ph.D.  students

7 M.S. students

25 M.S. students supervised

İTÜ Akademi

https://img.icons8.com/external-vitaliy-gorbachev-fill-vitaly-gorbachev/65/4E7695/external-building-museum-vitaliy-gorbachev-fill-vitaly-gorbachev.png

ITU Research Information System

 

 

Resarch Interests

 

Design and Control of Novel Unmanned Aerial Vehicles

Control of Robotics / Mechatronic Systems

Autonomous Ground Vehicles

Founder and director of the Autonomous Systems Research Laboratory, which focuses on civil applications of unmanned aerial and ground vehicles.

 

Patents

 

Useful Model

Rotor Tilt System for Multi-Rotor Air Vehicles

pending

Useful Model

Crane Delivery System for Unmanned Aerial Vehicles

pending

Useful Model

System That Provides Communication Between Autonomous Vehicles and People

pending

Useful Model

Smart Parachute Package Delivery System

pending

 

Projects

 

Principal Investigator:

Developing an Autonomous Delivery System with a Hybrid Unmanned Aerial Vehicle

Published 2 international conference papers, a book chapter is about to be printed, currently preparing a journal article, 2 students are writing their M.Sc. thesis, developed a prototype system, filled a patent application, received 1 citation

Principal Investigator:

’Design and Control of a Jet-propulsion autonomous heavy lift Unmanned Aerial Vehicle

Published 1 journal article, 1 international conference paper, 1 M.Sc. thesis, filled a patent application, one news article in the national press, developed a prototype system, received 3 citations

Principal Investigator:

Vision-based control of Unmanned Aerial Vehicles, and use of Vision for guidance

Published 3 journal articles, 1 book chapter, 2 conference papers, 2 M.Sc. theses, developed a prototype system, received 135 citations

Principal Investigator:

Development of an Intelligent Human Transporter

Published 1 journal article, 4 conference papers, 1 M.Sc. thesis, developed a prototype system, filled a patent application, and two news articles in the national press, received 6 citations

Principal Investigator:

Development of a 3B Sensor Quadrotor UAV

Published 2 conference papers, 1 M.Sc. thesis, developed a prototype system

Principal Investigator:

Adaptive Rotor multi-rotor UAV Design

Published 1 journal article, 2 conference papers, 1 M.Sc. thesis, developed a prototype system, filled a patent application, gave a speech at University, received 139 citations

Principal Investigator:

Design and control of a flapping micro-aircraft

Published 1 journal, 1 conference paper, 1 M.Sc. thesis, developed a prototype, and received 9 citations

Principal Investigator:

Image-based control of micro-aircraft in unknown environments

Published 2 conference papers, 1 M.Sc. thesis, developed a prototype, received 6 citations

Researcher:

Automatic Axle Lowering System for Trucks

Published 2 journal articles, 2 conference papers, 2 M.Sc. theses, developed a prototype system, the system went into mass production in Ford Trucks, received 4 citations

Advisor:

The International Grand Cooperative Driving Challenge – GCDC

Published 1 journal article, 6 M.Sc. theses based on the studies, developed a prototype, received 135 citations

Principal Investigator:

Load Detection Sensor Applications in Washing Machines

Published 1 journal article, 1 conference paper, 1 M.Sc. thesis, developed a prototype, received 30 citations

 

Book Chapters

 

1

Erdinç Altuğ, James P. Ostrowski and Camillo J. Taylor, ‘Vision Based Control of Model Helicopters”, Mobile Robots, Moving Intelligence, Advanced Robotic Systems International and pro literature Verlag, ISBN 3-86611-284-X, December 2006.

2

Metin Tarhan,  Erdinç  Altuğ,  “A Catadioptric and Pan-Tilt-Zoom  Camera  Pair Object Tracking  System for  UAVs”,  at the book  Unmanned  Aerial  Vehicles,  Kimon  P. Valavanis  (Editor),  Springer;  1st  Edition,  pp.  119-134,  ISBN:  978-94-007-1109-9, February 2011.

3

Zehra  Ceren,  Erdinç  Altuğ,  “Image Based and  Hybrid  Visual  Servo  Control of  an Unmanned Aerial Vehicle”, at the book “Recent Developments in Unmanned Aircraft Systems”, Kimon P. Valavanis (Editor), Springer; ISBN-13: 978-9400730328, March 21, 2012.

4

Bora C. Yiğit and Erdinç Altuğ, “Visual attitude estimation and stabilization of flying robots”, Mobile Robots for Dynamics Environments, Edited by: Emin Faruk Kececi and Marco Ceccarelli, ASME Press Robotics Engineering Book Series, 2015.

5

Makine Mühendisliğine Giriş (in Turkish), Editör: Prof. Dr. Necdet GEREN, Chapter 16, “Hareket ve Güç Kaynakları”, ISBN: 978-605-9594-27-1, 08 September 2017

6

Sinan Alnıpak, Turan Konyalıoğlu, İbrahim Halil Şahin, and Erdinç Altuğ, “Manufacturing of a Hybrid VTOL UAV Using Rapid Prototyping Techniques”, in Book titled “New Technologies and Developments in Unmanned Systems” - International Symposium on Unmanned Systems and The Defense Industry 2022 (ISUDEF '22) to be published by Springer-Nature, October 2023.

 

Journal Papers

 

1.      E. Altug, A. Turkmen, “A Novel Mini Jet Engine Powered Unmanned Aerial Vehicle: Modeling and Control”, Unmanned Systems, Vol. 10, No. 01, pp. 31-43 (2022).

2.      O. U. Acar, L. Güvenç and E. Altuğ, “Hardware-in-the-loop Testing of Automatic Lift Dropping System for Heavy Trucks”, has been accepted for publication in 
Journal of Intelligent & Robotic Systems, August 2019.

3.      E. Altuğ, M. E. Mumucuoğlu, I. Yüksel, “Design of an Automatic Item Pick-up System for Unmanned Aerial Vehicles”, Celal Bayar University Journal of Science Volume 16, Issue 1, 2020, p 25-33 Doi: 10.18466/cbayarfbe.529996, 2020,

4.      A. Kağızman, E. Altug, “Development of A Low-Cost, Portable and 𝟑𝟔𝟎𝟎 Field of View New 3D LIDAR System for The Navigation of Autonomous Vehicles”, has been accepted for publication in Süleyman Demirel University Journal of Natural and Applied Sciences, August 2019.

5.      T. Keleş, L. Güvenç and E.Altuğ, “ECU controlled intelligent lift axle dropping and lifting system for heavy trucks”, at the Engineering Science and Technology, an International Journal, available online 6 February 2019, https://doi.org/10.1016/j.jestch.2019.01.010.

6.   Abdurrahman İşbitirici and Erdinç Altuğ, “Design and Control of a Mini Aerial Vehicle that has Four Flapping-Wings”, Journal of Intelligent & Robotic Systems, March 2017, DOI: 10.1007/s10846-017-0530-9.

7.      Abdulkerim Fatih Şenkul, Erdinç Altuğ, “System Design of a Novel Tilt-Roll Rotor Quadrotor UAV”, Journal of Intelligent & Robotic Systems, DOI: 10.1007/s10846-015-0301-4, Volume 84, Issue 1, pp 575–599, December 2016.

8.      Onurcan Şahin, Erdinç Altuğ, ”Design and control of a visual servomechanism for automating corneal cross linking treatment on keratoconus patients”, Turkish Journal of Electricl Engineering & Computer Sciences, 2014.

9.      Ahmet   Yörükoğlu, Erdinç   Altuğ,  “Estimation   of  Unbalanced   Loads   in  Washing Machines using Fuzzy Neural Networks”,IEEE/ASME Transactions on Mechatronics, Volume: 18,  Issue:  3,  pp.  1182  –  1190,   DOI:  10.1109/TMECH.2012.2199510,   June 2013.

10.   L. Güvenç, Đ. M. C. Uygan, K. Kahraman, R. Karaahmetoğlu, Đ. Altay, M. Şentürk, M. T. Emirler, A. E. H. Karcı, B. A. Güvenç, E. Altuğ, M. C. Turan, Ö. Ş. Taş, E. Bozkurt, Ü. Özgüner,  K.  Redmill,  A.  Kurt,  B. Efendioğlu, “Cooperative  Adaptive  Cruise  Control Implementation  of Team  Mekar  at the  Grand  Cooperative  Driving  Challenge”, IEEE Transactions   on  Intelligent   Transportation   Systems,   Vol.  13,  No.  3,  pp.  1062  -1074, September 2012.

11.   Bora  Erginer,  Erdinç  Altuğ,  “Design  and  Implementation  of  a  Hybrid  Fuzzy  Logic Controller   for   a   Quadrotor   VTOL   Vehicle”,   International   Journal   of   Control, Automation, and Systems, Vol 10, No 1, pp. 1-10, 2012.

12.   Zehra  Ceren,  Erdinç  Altuğ,  “Image  Based  and  Hybrid  Visual  Servo  Control  of  an Unmanned Aerial Vehicle”, Journal of Intelligent &  Robotic Systems, Volume 65, Issue 1, Page 325-344, DOI: 10.1007/s10846-011-9582-4,  2012.

13.   Metin   Tarhan,   Erdinç   Altuğ,   “EKF Based Attitude Estimation and Stabilization of   a Quadrotor UAV Using Vanishing Points in Catadioptric Images”, Journal of Intelligent & Robotic Systems, Volume 62, Numbers 3-4, 587-607, DOI: 10.1007/s10846-010-9459-y, 2011.

14.   Metin Tarhan,  Erdinç  Altuğ,  “A Catadioptric  and Pan-Tilt-Zoom  Camera  Pair Object Tracking  System  for  UAVs”,  Journal  of Intelligent & Robotic Systems,  Volume  61, Numbers 1-4, 119-134, DOI: 10.1007/s10846-010-9504-x,  January 2011.

15.   Burcu     Aytekin, Erkin     Dincmen, Bilin     Aksun     Guvenc, Erdinc     Altug, Levent Guvenc, Serhan   Danis, Tankut   Acarman, Volkan   Sezer, Oncu   Ararat, Sinan   Oncu, “Framework for Development of Driver Adaptive Warning and Assistance Systems that will  be  Triggered  by  a  Driver  Inattention  Monitor”  International  Journal  of  Vehicle Design 2010, Vol 52, No:1/2/3/4, pp. 20-37.

16.   Erdinç Altuğ, James Ostrowski ve Camillo J. Taylor, Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback, The International Journal of Robotics Research, Vol. 24, No. 5, 329-341, 2005.

 

Conference Papers:

1.      Mustafa Enes Kırmacı, Hülya Yalçın, Erdinç Altug, "Design, Modelling and Attitude Control of a Nano-Quadrotor with Dual Microcontroller", 2023 Automatic Control National Meeting (TOK 2023), Istanbul.

2.      Efecan Becer, Onur Ulusoy, Kemal Turan, Erdinc Altug, “Design and Implementation of an Autonomous Cleaning Robot to Work Indoors”,  2023 Innovations in Intelligent Systems and Applications Conference.

3.      Kerim Moral, Erdinç Altuğ, Bader Ayran, “Çok Dronlu Modüler Bir  ̇IHA Yapısının Tasarımı ve Kontrolü”,  Elektrik, Elektronik ve Biyomedikal Mühendisliği Konferansı, ELECO 2022, 24-26 Kasım 2022.

4.      Sinan Alnıpak, Turan Konyalıoğlu, İbrahim Halil Şahin, and Erdinç Altuğ, “Manufacturing of a Hybrid VTOL UAV Using Rapid Prototyping Techniques”, the International Symposium on Unmanned Systems and the Defense Industry 2022 (ISUDEF’22) Symposium.

5.      Turan Konyalıoğlu, Sinan Alnıpak, Erdinç Altuğ, “Model Predictive Control of a Hybrid UAV for Parcel Delivery Applications”, 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), DOI: 10.1109/AIRPHARO52252.2021.9571035

6.      Abdullah Türkmen, Erdinç Altuğ, “Design of a Quad-Jet VTOL UAS for Heavy-lift Applications”, 2020 International Conference on Unmanned Aircraft Systems (ICUAS'20), Athens, Greece, September1-3, 2020.

7.      Hüseyin Burak Kurt ve Erdinç Altuğ, “ORB-SLAM and Inertial Sensor Fussion for GPS Denied Environments for Autonomous Car Localization”, 2018 International Automotive Technologies Conference (OTEKON), pp. 981-990, 7-8 May 2018, Bursa, Turkey.

8.      Ahmet Kağızman ve Erdinç Altug, "Acquiring 3D Point Cloud Data and Object Detection using 2D Laser Scanner (LIDAR) for Autonomous Vehicles”, 2018 International Automotive Technologies Conference (OTEKON), pp. 933-942, 7-8 May 2018, Bursa, Turkey.

9.      Hüseyin Burak Kurt and Erdinç Altug, "Development of an Autonomous UAV Platform for Advanced Research Applications”, presented at the 2017 International Conference on Mechatronics Systems and Control Engineering (ICMSCE 2017), Abdullah Gül University, Kayseri, Turkey, February 2-4, 2017.

10.   Erdinç Altuğ, Sükrü Yaren Gelbal, Mehmet Kabil Gültekin, and Emin Faruk Keçeci, “Localization of an Autonomous Personnel Carrying Vehicle in Indoor Environments”, 2017 International Conference on Mechatronics Systems and Control Engineering (ICMSCE 2017), pp 38-41, Abdullah Gül University, Kayseri, Turkey, February 2-4, 2017.

11.   Sukru Yaren Gelbal, Erdinc Altug, Faruk Kececi, "Design and HIL Setup of an Autonomous Vehicle for Crowded Environments", 2016 IEEE International Conference on Advanced Intelligent Mechatronics, in Banff, Alberta, Canada, July 12–15, 2016.

12.   Abdurrahman İşbitirici, Erdinc Altug, “Design of a Flapping-wing Aerial Vehicle based on four-bar mechanism”, presented at the 2016 International Conference on Unmanned Aircraft Systems (ICUAS'16), in Arlington, VA, USA on June 7-10, 2016.

13.   Fatih Senkul, Sukru Yaren Gelbal, Erdinc Altug, “Manufacturing and Flight Tests of a Quadrotor UAS with Tiltable Rotors”, presented at the 2016 International Conference on Unmanned Aircraft Systems (ICUAS'16), in Arlington, VA, USA on June 7-10, 2016.

14.   Taylan Keleş, Ahmet Aray, Ufuk Özdemir, Levent Güvenç, Erdinç Altuğ, “Implementation of Automatic Lift Axle System for Trucks with Mechanical Suspension”, the third International Symposium on Innovative Technologies in Engineering and Science (ISITES), 2015, pp 804- 813.

15.   Abdurrahman İşbitirici ve Erdinç Altuğ, “Dört Çubuk Mekanizması Kullanarak Mikro Hava Aracı İçin Kanat Mekanizması Tasarımı”, Uluslararası katılımlı 17. Makina Teorisi Sempozyumu, İzmir 2015.

16.   Fatih Şenkul, Yaren Gelbal and Erdinç Altuğ, “Uçan Robotlar için Yönlendirilebilir Rotor Sistemi Tasarımı ve Kontrolü”, Türkiye Robotbilim Konferansı’nın (ToRK), İstanbul, 26-27 Ekim 2015.

 

17.   Fatih Şenkul, Erdinç Altuğ, “Adaptive Control of a Tilt – Roll Rotor Quadrotor UAV ”, International Conference on Unmanned Aircraft Systems (ICUAS'14), Florida USA, 27-30 May 2014.

18.   O. U. Acar, T. Keleş, Z. Koç, Ş. Güner, M. Duruş, E. Altuğ, L. Güvenç, “Development of Automatic Lift Axle System for Trucks with Mechanical Suspensions”, IFAC Workshop on Advances in Control and Automation Theory for Transportation Applications (ACATTA 2013).

19.   Fatih Şenkul, Erdinç Altuğ, “Modeling and Control of a Novel Tilt – Roll Rotor Quadrotor UAV”, International Conference on Unmanned Aircraft Systems (ICUAS'13), Atlanta USA, 28-31 May 2013.

20.   Bora Yiğit, Erdinç Altuğ, “Visual attitude stabilization of a unmanned helicopter in unknown environments with an embedded single-board computer”, IEEE International Symposium on Robotic and Sensors Environments (ROSE), pp. 49 – 54, 16-18 Nov. 2012.

21.   Taylan  Keleş,  O.  U.  Acar,  A.  O.  Öztürk,  Z.  Koç,  M.  Duruş,   E.  Altuğ, L.  Güvenç, “Kamyonlarda  Otomatik  Dingil  Đndirme  Sistemi  Algoritması  ve  Simülatörü Geliştirilmesi”, 6. Otomotiv Teknolojileri Kongresi (OTEKON), 4-5 June 2012.

22.   Ahu Ece Hartavi Karcı, Đ. M. C. Uygan, M. C. Turan, R. Karaahmetoğlu, M. Şentürk, Ö.Ş. Taş, K. Kahraman, L. Güvenç, B. A. Güvenç, Ü. Özgüner, E. Altuğ, B. Efendioğlu, “Kooperatif Araç Tasarım ve Kontrol Esasları”, 6. Otomotiv Teknolojileri Kongresi (OTEKON), 4-5 June 2012.

23.   Murat C. Turan, Ahu E. Hartavi, and Erdinç Altuğ, “Development of a Rule Based Upper Level Control Algorithm for a Co-operative Vehicle in Automated Highway System”, IEEE International Conference on Vehicular Electronics and Safety (ICVES’12), pp. 454-459, İstanbul, Turkey, July 24-27, 2012.

24.   Burcu Aytekin, Erdinç Altuğ, “Increasing Driving Safety with a Multiple Vehicle Detection and Tracking System using Ongoing Vehicle Shadow Information”, IEEE International Conference on Systems Man and Cybernetics (SMC’10), (1062-922X) (978-1-4244-6586-6), 2010, pp. 3650-3656, Istanbul, Turkey, 2010.

25.   Zehra Ceren, Erdinç Altuğ, “Vision-based Servo Control of a Quadrotor Air Vehicle”, IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2009), DCC, Daejeon, Korea, December 15 - 18, 2009.

26.   Başar Denizer, Erdinç Altuğ, “Design of a Cheap Tracked Mobile Robot for Map Building Tasks”, IEEE IECON 2009 the 35th Annual Conference of the IEEE Industrial Electronics Society, Porto, Portugal, pp. 2219-2224, 3-5 November 2009.

27.   Metin Tarhan, Erdinç Altuğ, “Control of a Quadrotor Air Vehicle by Vanishing Points in Catadioptric Images”, IEEE ISOT 2009 International Symposium on Optomechatronic Technologies  Istanbul, Turkey, 21-23 September 2009.

28.   Ahmet Yörükoğlu, Erdinç Altuğ, “Determining the Mass and Angular Position of the Unbalanced Load in Horizontal Washing Machines”, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Suntec Convention and Exhibition Center, Singapore, pp. 118-123, July 14-17, 2009.

29.   Burcu Aytekin, Erdinç Altuğ, “Bilgisayarlı Görü Yöntemi ile Araç Belirleme ve Takibi”, TOK'09 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Yıldız Technical University, Đstanbul, Ekim 2009.

30.   Zehra  Ceren,  Erdinç  Altuğ,  “Bilgisayarlı  Quadrotor  Hava  Aracının  Görüntü  Tabanlı Servo Kontrolü”, TOK'09 Otomatik Kontrol Türk Milli Komitesi Toplantısı, Yıldız Technical University, Đstanbul, Ekim 2009.

31.   Başar Denizer,  Erdinç  Altuğ,  “Harita  Çıkarma  Uygulamaları  için  Paletli  bir  Robot Tasarımı”, TOK'08   Otomatik   Kontrol   Türk   Milli   Komitesi   Toplantısı,   Đstanbul, November 2008.

32.   Zehra    Ceren,    Erdinç    Altuğ,    “Uçan    robotlarda    Kamera    ile    Poz    Tahmin Edilmesi”, TOK'08   Otomatik   Kontrol   Türk   Milli   Komitesi   Toplantısı,   Đstanbul, November 2008.

33.   Serhan Daniş, Burcu Aytekin, Erkin Dinçmen, Volkan Sezer, Öncü Ararat, Sinan Öncü, Bilin Aksun Güvenç, Tankut Acarman, Erdinç Altuğ and Levent Güvenç, “Framework For Development Of Driver Adaptive Warning and Assistance Systems That will be Triggered by a Driver Inattention Monitor”, OTEKON’08, 4th Automotive Technologies Congress, June 01-04, 2008, Bursa.

34.   Bora Erginer, Erdinc Altug, “Modeling and PD Control of a Quadrotor VTOL Vehicle”, IEEE Intelligent Vehicle Symposium, İstanbul, June 2007.

35.   S. Karaman, M. Aksugur, T. Baltaci, M. Bronz, C. Kurtulus, E. Altug, G. Inalhan, L. Guvenc, “Aricopter : Aerobotic Platform for Advances in Flight, Vision Controls and Distributed Autonomy”, IEEE Intelligent Vehicle Symposium, İstanbul, June 2007.

36.   Bora Erginer, Erdinç Altuğ, “Dört Rotorlu Bir Helikopterin Bulanık Kontrolü”, TOK'07, Otomatik Kontrol Türk Milli Komitesi Toplantısı, September 2007, Istanbul.

37.   Erdinç Altuğ, “Control of a Tethered Aerial Platform for Acquiring Aerial Images”, IEEE International Conference on Mechatronics, Aachen- Germany, September 2004.

38.   Erdinç Altuğ and Camillo J. Taylor, “Vision-based Pose Estimation and Control of a Model Helicopter”, International Conference on Mechatronics, İstanbul, June 2004.

39.   Erdinç Altuğ, James P. Ostrowski and Camillo Taylor, “Quadrotor Control using Dual Visual Feedback”, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, pp. 4294-4299, Taipei, Taiwan, September 2003.

40.   Erdinç Altuğ, James Ostrowski and Vijay Kumar, “Design and Control of a Quadrotor Helicopter”, University of Pennsylvania PENN Graduate Research Symposium, 2002.

41.   Erdinç Altuğ, James P. Ostrowski and Robert Mahony “Control of a Quadrotor Helicopter using Visual Feedback”, Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 72-77, Washington, D.C., May 2002.

 

Courses

 

·       Advanced System Dynamics and Control

·       Data Acquisition and Signal Processing

·       System Dynamics and Control

·       Industrial Automation

·       Theory of Machines

·       Mechanical Vibrations

 

[Updated on October 23, 2023]

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