Delft University of Technology, Faculty of Mechanical, Maritime and Materials Engineering (3mE), BioMechanical Engineering, Intelligent Mechanical Systems. Post-Doc Researcher Mekelweg 2 2628 Cd Delft The Netherlands E-mail: m.s.erden@tudelft.nl e126694@metu.edu.tr Tel. (office): +31 (0) 15 27 86794 (cell) : +31 (0) 61 44 34832 Web-site: http://www.3me.tudelft.nl/live/pagina.jsp?id=7aac29a4-5e3a-4bd1-91a4-007a6e05e293&lang=en Six-Legged Robot-EA308 http://www.eee.metu.edu.tr/~suphi/robot_ea308.html Mustafa Suphi ERDEN Previous web-site: http://www.eee.metu.edu.tr/~suphi/ Date of Birth 21.10.1977, Ankara, Turkey. Education 1988 1992 Eskisehir Anadolu Lisesi (Eskisehir Anatolian High School) 1992 1995 Izmir Fen Lisesi (Izmir Scientific High School) 1995 1999 Metu Electrical and Electronics Engineering (Bs., High honour, 3.68) 1999 2001 Metu Electrical and Electronics Engineering (Master, 3.50) 2001 2006 Metu Electrical and Electronics Engineering (PhD, Robotics-Control, 3.75) Interests and activities Human-robot interaction, robotics, control, machine intelligence, reinforcement learning, multi-legged walking, optimization, optimal control, fuzzy control, aircraft dynamics, aircraft control. Social sciences: Sociology, ideology, citizenship, Ottoman-Turkish Republic history. Music: Classical guitar, baglama (Turkish folk instrument), polyphonic chorus. Languages Turkish (mother tongue), English (fluent), Dutch (beginner), German (beginner). Computer Skills Matlab, Simulink, C++, Visual C++, C++ Builder, Java Builder, Work experience Post-Doc Researcher 2007- BioMechanical Engineering, Faculty of Mech. Eng., TU Delft, The Netherlands Research Assistant 1999-2006 Electrical and Electronics Engineering, Middle East Technical University, Ankara Computer Programming (Development of an Emulative Simulator) 2003 May-November ETA (Electronic Design Industry & Trade Inc.) METU Techno-polis, Ankara Summer Practice 1997 June Arcelik Refrigerator Plant, Eskisehir Summer Practice 1998 July Fethiye Telekom, Fethiye/Mugla 1
Hobbies Social sciences, classical guitar, baglama (Turkish folk instrument), chorus, reading (classics, sociology, psychology, philosophy), singing, fishing, travelling (inter-rail), swimming. Professional membership EMO (Electrical Engineers Association, Turkey) Awards Middle East Technical University, Graduate School of Natural and Applied Sciences, Thesis Award, 2007 (Given to ten theses of the Graduate School in 2007). Certificate How to Formulate and Design a Good Project Proposal. A three days introductory course on Logical Framework Approach as a Tool for Quality Control in Project Cycle Management, by Process Consultants and Moderators Group (Brussels, Belgium), in TuDelft, March 10-12, 2008 Teaching Experience Courses Given at Delft University of Technology (around 65% of each) Machine Intelligence 2007, 2008, 2009 (Master Course, TU Delft) Engineering Informatics 2007, 2008, 2009 (Master Course, TU Delft) Supervision at Delft University of Technology (Master and PhD students are still being supervised) (2007-2009) 2 PhDs 4 Master 4 BSc (for a project) Supervised Laboratories at Middle East Technical University (1999-2006) Process Control Laboratory Induction Machines Laboratory Electrical Circuits Laboratory Seminars given in Nesin Mathematics Village, Sirince, Selcuk, Izmir, Turkey Multi Valued and Fuzzy Logic (6 hours), April 23-26, 2009, Kuantum Mekaniği ve Bulanık Mantık Çalıştayı (Quantum Physics and Fuzzy Logic Workshop). Intelligent Machines and Artificial Intelligence from Past till Today (2 hours), October 29-November 1, 2009, Beyin, Bilinç, Kuantum Çalıştayı (Workshop on Brain, Cognition and Quantum). Theses PhD Thesis Master Thesis Erden, Mustafa Suphi, PhD Thesis Six-Legged Walking Machine: The Robot-EA308, METU, Department of Electrical and Electronics Engineering, July 2006. Erden, Mustafa Suphi, MS Thesis Conflict Resolution in Air Traffic Management, METU, Department of Electrical and Electronics Engineering, September 2001. 2
Publications International Journal Papers Robotics 1) Erden, M.S. and Tomiyama, T., 2009. Identifying welding skills for training and assistance with robot. Science and Technology of Welding and Joining, 14 (6): 523-532. DOI 10.1179/136217109X437150. 2) Erden, M.S. and Leblebicioğlu, K., 2008. Free gait generation with reinforcement learning for a six-legged robot. Robotics and Autonomous Systems, 56: 199-212, DOI:10.1016/j.robot.2007.08.001. 3) Erden, M.S. and Leblebicioğlu, K., 2007. Analysis of wave gaits for energy efficiency. Autonomous Robots, 23 (3): 213-230, DOI: 10.1007/s10514-007-9041-z. 4) Erden, M.S. and Leblebicioğlu, K., 2007. Torque distribution in a six-legged robot. IEEE Transactions on Robotics, 23 (1): 179-186. 5) Erden, M.S., Leblebicioğlu, K., Halıcı, U., 2004. Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task. Journal of Intelligent and Robotic Systems, 38: 287-306. Function Modelling and Design 6) Erden, M.S, Komoto, H., van Beek, T.J., D'Amelio, V., Echavarria, E. and Tomiyama, T., 2008. A review of function modeling: Approaches and applications. Artificial Intelligence for Engineering Design, Analysis and Manufacturing, 22: 147 169. DOI: 10.1017/S0890060408000103. Social Science 7) Erden, M.S., 2004. The exchange of Greek and Turkish populations in the 1920s and its socio-economic impacts on life in Anatolia. Crime, Law & Social Change 41: 261 282, 2004. (Outcome of my sociological studies) Book Chapter Erden, M.S., Leblebicioğlu, K., 2006. Multi legged walking in robotics and dynamic gait pattern generation for a six-legged robot with reinforcement learning. Book chapter in Mobile Robots: New Research, Nova Publishers, New York, (ISBN: 1-59454-359-3). Edited Proceeding Özgen, C., Leblebicioğlu, K. and Erden, M.S., 2002. Otomatik Kontrol Ulusal Toplantısı TOK Bildiriler Kitabı (Proceedings of the National Conference of Automatic Control), 9-11 September, Ankara. Under Review Papers Submitted to International Journals Erden, M.S. and Tomiyama, T., 2009. Human intent detection and physically-interactive control of a robot without force sensors. Conditionally accepted to IEEE Transactions on Robotics. Erden, M.S., Maric, B. and Tomiyama, T., 2009. Assisting manual welders with robot. Under review. Van Beek, T., Erden, M.S., and Tomiyama, T., 2009. Modular Design of Mechatronic Systems with Function Modeling. Under review. 3
International Conferences Robotics 1) Van Essen, J., van der Jagt, M., Troll, N., Wanders, M., Erden, M.S., van Beek, T., and Tomiyama, T. (2008), Identifying the welding skills. Proc. of the IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, October 12-15, Beijing, pp. 437-442. 2) Erden, M.S. and Leblebicioğlu, K., 2008. Optimal Protraction of a Three-Joint Robot Leg, IFAC 2008, South Korea. 3) Erden, M.S. and Leblebicioğlu, K., 2006. Free gait generation with reinforcement learning for a six-legged robot. In Proceedings of the 9 th International Conference on Climbing and Walking Robots CLAWAR 2006, 12-14 September, Brussels, Belgium, pp. 413-424. 4) Erden, M.S., Leblebicioğlu, K, 2005. Dynamic gait pattern generation with reinforcement learning. Presented in the congress of IFAC 2005, July 4-8, Prague. 5) Erden, M.S., Leblebicioğlu, K, 2004. Fuzzy controller design for a three joint robot leg in protraction phase - an optimal behavior inspired fuzzy controller design. In Proceedings of the First International Conference On Informatics In Control, Automation And Robotics, Setúbal, Portugal, Vol. 2: 302-306. 6) Erden, M.S., K. Leblebicioğlu, U. Halıcı, 2002. Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task. In Proceedings of the 15 th IFAC World Congress, Barcelona, Spain, 21-26 July 2002, Vol. K: 503-508. Function Modelling and Design 7) Cabrera A.A.A., Erden, M.S., Foeken M.J., Tomiyama, T., 2008. High Level Model Integration for Design of Mechatronic Systems, Proc. of 2008 IEEE/ASME Int. Conf. on Mechatronic and Embedded Systems and Applications, October 12-15, Beijing, pp. 387-392. 8) Chmarra M.K., Cabrera A.A.A., Van Beek T., D'Amelio V (D'Amelio, Valentina) 1, Erden, M.S., and Tomiyama T., 2008. Revisiting the Divide and Conquer Strategy to Deal with Complexity in Product Design. In Proc. of 2008 IEEE/ASME Int. Conf. on Mechatronic and Embedded Systems and Applications, October 12-15, Beijing, pp. 393-398. Air Traffic Management 9) Erden, M.S., Leblebicioğlu, K, 2004. Conflict resolution for free flight considering degree of danger and concession. In Proceedings of the First International Conference On Informatics In Control, Automation And Robotics, Setúbal, Portugal, Vol. 1: 185:192. 10) Erden, M.S., Leblebicioğlu, K, 2004. A lateral director autopilot design for conflict resolution algorithms. In Proceedings of the First International Conference On Informatics In Control, Automation And Robotics, Setúbal, Portugal, Vol. 2: 330-334. 11) Erden, M.S., K. Leblebicioğlu, U. Halıcı, 2002. Conflict resolution by negotiation. In Proceedings of the 15 th IFAC World Congress, Barcelona, Spain, 21-26 July 2002, Vol. L: 471-476. 4
Engineering Education 12) Erden, M.S., 2003. Positivistic tendencies due to engineering education., In Proceedins of ACE2003-6th IFAC Symposium on Advances in Control Education, Oulu, Finland, 389-394. Turkish Conferences 1) Erden, M.S., Leblebicioğlu, K, 2006. Altı-bacaklı robotta burgu kuvvetlerinin dağıtımı (Turque distribution for a six-legged robot). 14. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı CD si, Antalya. 2) Erden, M.S., Leblebicioğlu, K, 2006. Dalgalı yürüyüşlerin enerji verimliliği analizi (Analysis of wave gaits for energy efficiency). 14. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı CD si, Antalya. 3) Erden, M.S., Leblebicioğlu, K, 2005. Üç eklemli robot bacağı için gezinge eniyilemesi (Trajectory optimization for a three-joint robot leg). TOK2005, Ulusal Otomatik Kontrol Konferansı Bildiriler Kitabı, Đstanbul, 243-246. 4) Erden, M.S., Leblebicioğlu, K, 2004. Üç eklemli bir robot bacağının ileri adım atması için optimal davranış esinli bulanık kontrolcu tasarımı (Optimal behaviour inspired fuzzy controller design for a three-joint robot leg in protraction phase). 12. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı CD si, Kuşadası. 5) Erden, M.S., Leblebicioğlu, K., Halıcı, U., 2003. Pekiştirmeli eğitim kullanarak yürüme planı öğrenimi (Gait-pattern generation with reinforcement learning). 11. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı Bildiriler Kitabı, Đstanbul, 671-674. 6) Erden, M.S., Önder, M., Leblebicioğlu, K., Halıcı, U., 2003. Görüntülerde uzam ve zaman bilgilerini kullanarak hareket bölütlemesi (Motion segmentation with using spatial and temporal information). 11. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı Bildiriler Kitabı, Đstanbul, 331-334. 7) Erden, M.S., Leblebicioğlu, K., Halıcı, U., 2001. Çok ajanlı sistem yaklaşımıyla hava trafiği kontrolü (Air-traffic control with multi-agent system perspective). 9. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı Bildiriler Kitabı, Gazimagosa, Vol II: 427-432. 8) Erden, M.S., Leblebicioğlu, K., Halıcı, U., 2001. Çok Ajanlı Sistem Yaklaşımıyla Genetik Ayarlamalı Bulanık Kontrol Kullanarak Đki Boyutta Nesne Teslimi Sistemi için Robot Kontrolü (Multi-agent system based fuzzy controller design with genetic tuning for a service mobile manipulator robot in the hand-over task). 9. IEEE Sinyal Đşleme ve Uygulamaları Kurultayı Bildiriler Kitabı, Gazimagosa,Vol II: 717-722. 9) Erden, M.S., Leblebicioğlu, K., Halıcı, U., 2001. Hava trafik kontrolünde pazarlık kullanarak çelişki çözme uygulaması (Application of negatiation for conflict resolution in air-traffic control). TOK2001 Otomatik Kontrol Ulusal Toplantısı Bildiriler Kitabı, Uludağ-Bursa, 215-218. Refereed Journals Journal of Intelligent and Robotic Systems IEEE Transaction on Robotics International Journal of Systems, Man and Cybernetics, Part-A International Journal of Systems, Man and Cybernetics, Part-B IEEE Transactions on Intelligent Transportation Systems 5
References Prof. Dr. Tetsuo TOMIYAMA (t.tomiyama@tudelft.nl, Delft University of Technology, the Netherlands) Prof. Dr. Kemal LEBLEBĐCĐOĞLU (kleb@metu.edu.tr, Middle East Technical university, Turkey) Prof. Dr. Uğur HALICI (halici@metu.edu.tr, Middle East Technical university, Turkey) Prof. Dr. Turkey) Kemal ÖZGÖREN (ozgoren@metu.edu.tr, Middle East Technical university, 6