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Erdinç Altuğ İTÜ Makina Fakültesi, Office 443, İnönü Caddesi, No:65, Beyoğlu Istanbul 34437 TURKEY Tel.: +90 (212) 293-1300 / 2469 Fax: +90 (212) 245 0795
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I am Professor of Mechanical Engineering at the Faculty of Mechanical Engineering, Istanbul Technical University.
I am the founder and director of the Autonomous Systems Research Laboratory, which focuses on civilian applications of unmanned aerial and
ground vehicles. My current research interests are
in design and control of novel unmanned aerial vehicles, advanced control of robotic and mechatronic systems. |
ITU Autonomous Systems Research Lab. |
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My
research focuses on three main topics. · Design and
Control of Novel Unmanned Aerial Vehicles · Control of
Robotics / Mechatronic Systems · Autonomous Ground
Vehicles. I’m currently working on
these projects · Autonomous Delivery System
with a Hybrid Unmanned Aerial Vehicle (we designed and manufactured three prototype UAV systems for delivery applications, that involved system analysis, system design, controller design, test planning, testing, and validation.) · Design and
Control of a Jet-propulsion autonomous
heavy-lift Unmanned Aerial Vehicle (we designed a novel heavy lift UAV system that has thrust vectoring jet actuators that involved CFD modelling, simulations, material selection, component selection, system design, controller design and manufacturing.) · Vision-based control
of Unmanned Aerial Vehicles, and use of Vision for guidance (Developed algorithms for vision-based navigation of UAV systems) · Development of an
Intelligent Human Transporter
(we developed an indoor autonomous transporter prototype for crowded environments) Book Chapters 1.
Alnıpak, S., Konyalıoğlu, T., Ibrahim, H. S¸., and Altuğ, E. (2023).
Manufacturing of a Hybrid VTOL UAV Using Rapid Prototyping Techniques, at the
book New Technologies and Developments in Unmanned Systems – Proceedings of
the International Symposium on Unmanned Systems and The Defense Industry
2022, published by Springer-Nature, ISSN 2730-7778. https://link.springer.com/
book/10.1007/978-3-031-37160-8 2.
Altuğ, E. (2017). Makine Mühendisliğine Giriş (in Turkish), Editör:
Prof. Dr. Necdet GEREN, Chapter 16, “Hareket ve Güç
Kaynakları”, ISBN: 978-605-9594-27-1. http://www.papatyabilim.com.tr/makina_Muhendisligine_Giris.htm 3.
Yiğit, B. C., and Altuğ,
E. (2015). 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. https://www.asme.org/publications-submissions/books/find-book/mobile-robots-dynamic-environments/print-on-demand-books 4.
Ceren, Z., Altuğ, E.
(2012). 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. https://link.springer.com/book/9789400730328 5.
Tarhan, M., Altuğ, E.
(2011). 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.
https://link.springer.com/book/9789400711099 6.
Altuğ, E., Ostrowski
J. P., and Taylor, C. J. (2006). Vision Based Control of Model Helicopters”,
Mobile Robots, Moving Intelligence, Advanced Robotic Systems International
and pro literature Verlag, ISBN 3-86611-284-X.
https://www.intechopen.com/books/6105 Journal Papers 1.
Moral, K., Ayran, B. & Altug, E.
Design and control of a modular multi-drone system with vertical assemble
capability. Int. J. Dynam. Control (2024).
https://doi.org/10.1007/s40435-024-01404-9 2.
Altuğ, E., & Türkmen, A. (2022). A Novel Mini Jet Engine Powered
Unmanned Aerial Vehicle: Modeling and Control. Unmanned Systems, 10(1).
https://doi.org/10.1142/S2301385022500017 3.
Acar, O. U., Güvenç, L., & Altuğ, E. (2020). Hardware-in-the-Loop
Testing of Automatic Lift Dropping System for Heavy Trucks. Journal of
Intelligent and Robotic Systems: Theory and Applications, 98(3–4).
https://doi.org/10.1007/s10846-019-01092-0 4.
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, 5.
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. 6.
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. 7. 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. 8.
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. 9.
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. 10.
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. 11.
L. Güvenç, İ. M. C. Uygan, K. Kahraman, R. Karaahmetoğlu, İ. 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. 12.
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. 13.
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. 14.
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. 15.
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. 16.
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. 17. 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.
Koken, M., and Altug, E. (2024). Experimental Test of Fault Tolerant
Real Time Operational Modal Analysis Method by Voting Algorithm for
Aircrafts. Accepted for publication and oral presentation by 2024
International Conference of Mechanical Engineering on Aerospace (CoMEA 2024) conference. 2.
Onat Erdoğmuş,
Erdinç Altuğ (2024). “Integrating Path Planning and Image Processing with
UAVs for Disease Detection and Yield Estimation in Indoor Agriculture”, 3rd
International Graduate Research Symposium (IGRS’24), May 8-10, 2024 İstanbul
– TÜRKİYE. 3.
Sinan Alnıpak, Erdinç Altuğ
(2024). “Modeling and Control of a Parachute-Payload UAV”, 3rd International
Graduate Research Symposium (IGRS’24), May 8-10, 2024 İstanbul – TÜRKİYE. 4.
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. 5.
Becer, E., Ulusoy, O., Turan, K., & Altug,
E. (2023). Design and Implementation of an Autonomous Cleaning Robot to Work
Indoors. 2023 Innovations in Intelligent Systems and Applications Conference,
ASYU 2023. https://doi.org/10.1109/ASYU58738.2023.10296785 6.
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. 7.
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. 8.
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 9.
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. 10.
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. 11.
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. 12.
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. 13.
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. 14.
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. 15.
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. 16.
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. 17.
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. 18.
Abdurrahman İşbitirici ve Erdinç Altuğ, “Dört Çubuk Mekanizması Kullanarak Mikro Hava Aracı İçin
Kanat Mekanizması Tasarımı”, Uluslararası katılımlı 17. Makina Teorisi Sempozyumu, İzmir 2015. 19.
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. 20.
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. 21.
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). 22.
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. 23.
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. 24.
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. 25.
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. 26.
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. 27.
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. 28.
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. 29.
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. 30.
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. 31.
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. 32.
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. 33.
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. 34.
Başar Denizer, Erdinç Altuğ, “Harita Çıkarma Uygulamaları
için Paletli
bir Robot Tasarımı”, TOK'08 Otomatik Kontrol
Türk Milli
Komitesi Toplantısı, Đstanbul, November 2008. 35.
Zehra Ceren, Erdinç
Altuğ,
“Uçan robotlarda Kamera ile Poz Tahmin
Edilmesi”, TOK'08 Otomatik Kontrol Türk
Milli Komitesi Toplantısı, Đstanbul, November 2008. 36.
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. 37.
Bora Erginer, Erdinc Altug, “Modeling and PD Control of a Quadrotor VTOL Vehicle”,
IEEE Intelligent Vehicle Symposium, İstanbul, June 2007. 38.
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. 39.
Bora Erginer, Erdinç Altuğ, “Dört Rotorlu Bir Helikopterin Bulanık Kontrolü”, TOK'07, Otomatik Kontrol Türk Milli Komitesi Toplantısı, September 2007, Istanbul. 40.
Erdinç Altuğ, “Control of a Tethered Aerial Platform for
Acquiring Aerial Images”, IEEE International Conference on Mechatronics,
Aachen- Germany, September 2004. 41.
Erdinç Altuğ and Camillo J. Taylor, “Vision-based Pose
Estimation and Control of a Model Helicopter”, International Conference on
Mechatronics, İstanbul, June 2004. 42.
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. 43.
Erdinç Altuğ, James Ostrowski and Vijay Kumar, “Design and Control of a Quadrotor
Helicopter”, University of Pennsylvania PENN Graduate Research Symposium, 2002. 44.
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. Teaching Doctoral Level Courses · MAK-662E,
Advanced System Dynamics and Control Masters Level Courses · MTA-551E, Data
Acquisition and Signal Processing (2022, 2023) · MKM-512,
Mechatronic System Design (2006, 2010, 2011) · MKM-503E,
Mechatronic System Components (2006 - 2010) · MKM-596,
Mechatronic Seminar (2006- 2009) · MAK-501E,
Engineering Mathematics (2007, 2008,2009) Bachelors in Mechanical and
Manufacturing Engineering · MAK-331E /
MAK-333E, System Dynamics and Control (2008 - Present) · MKN-401,
Foundations of Mechatronics (2011, 2012, 2013, 2015) · MAK-324E /
MAK-324 / MAK-322E, Theory of Machines (2011 - Present) · MAK-315,
Mechanical Vibrations (2017 - Present) · IML-322E /
IML-322, Industrial Automation (2005 - 2023) Bachelors in Industrial Design · EE130, Mechatronics
in Industrial Design, at the Medipol University
(2020, 2021) |
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[Updated on May 15, 2024]