Mustafa Suphi ERDEN - ISIR

ISIR
Institut des Systèmes Intelligents et de
Robotique
Université Pierre et Marie CURIE
Pyramide - T55/65
CC 173 - 4 Place Jussieu
75005 Paris
Post-Doc Researcher
E-mails: [email protected]
[email protected]
Web-sites:
@ISIR:
http://www.isir.upmc.fr/?op=view_profil&lang=fr&id=237
@ENSTA:
http://www.ensta-paristech.fr/~erden/eng/
@TuDelft:
http://www.3me.tudelft.nl/live/pagina.jsp?id=7aac29a4-5e3a4bd1-91a4-007a6e05e293&lang=en
Mustafa Suphi ERDEN
Date of Birth
21.10.1977, Ankara, Turkey.
Marital Status
Single
Education
Engineering
2001 – 2006 Middle East Technical University (METU), Ankara, Turkey, Electrical
and Electronics Engineering (PhD, Robotics-Control, 3.75/4)
1999 – 2001 METU, Electrical and Electronics Engineering (Master, 3.50/4)
1995 – 1999 METU, Electrical and Electronics Engineering (Bsc., High Honor,
3.68/4)
1992 – 1995 Izmir Fen Lisesi (Izmir Scientific High School, Turkey)
1988 – 1992 Eskisehir Anadolu Lisesi (Eskisehir Anatolian High School, Turkey)
Social Science
2001 – 2010 Middle East Technical University (METU), Ankara, Turkey,
Department of Sociology (PhD, 3.95/4)
Interests and Activities
Robotics, human-robot interaction, assistive robotics, skill assistance,
mechatronics design, control, machine intelligence, reinforcement learning,
biologically inspired robotics, multi-legged walking, optimization, optimal control,
fuzzy 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), French (intermediate), Dutch (upper
beginner), German (beginner).
Computer Skills
Matlab, Simulink, C++, SolidWorks, LabVIEW, Visual C++, C++ Builder, Java
Builder, CLIPS, Careograph (for the Nao Robot).
Work Experience
Marie Curie Intra European Research Fellow
2012 - (2014)
Learning Algorithms and Systems Laboratory (LASA– EPFL, Lausanne,
Switzerland)
Post-Doc Researcher
2011 - 2012
Paris, France)
Institut des Systèmes Intelligents et de Robotique (ISIR – UPMC,
1
Post-Doc Researcher
2010 – 2011 Ecole Nationale Superieure de Techniques Avancees (ENSTA-ParisTech)
Post-Doc Researcher
2007 – 2010 BioMechanical Engineering, Faculty of Mech. Eng., TU Delft, The
Netherlands
Research Assistant
1999 – 2006 Electrical and Electronics Engineering, Middle East Technical University,
Ankara
Computer Programmer (Development of an Emulative Simulator)
2003 May-November ETA (Electronic Design Industry & Trade Inc.), METU Technopolis, Ankara
Summer Practice
1997 June Arcelik Refrigerator Plant, Eskisehir
Summer Practice
1998 July Fethiye Telekom, Fethiye/Mugla
Hobbies
Social sciences, comparative history, classical guitar, baglama (Turkish folk
instrument), chorus, reading (classics, sociology, psychology, philosophy), singing,
traveling (inter-rail), swimming.
Professional Membership
IEEE Member, EMO (Electrical Engineers Association, Turkey)
Awarded Fellowship
Marie Curie Intra European Fellowship 2012-2014
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).
Middle East Technical University, Electrical and Electronics Engineering, Dr. Bülent
Kerim Altay Award, 1996, (due to having 4.0 (full) Grade Average in the semester).
Certificate and Training
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 TU Delft, March 10-12, 2008
How to Write a Good FP7 Proposal. Seminars given to TU Delft employees, 2008-2009.
Teaching Experience
Courses Given at Delft University of Technology (around 70% of each)
Machine Intelligence 2007, 2008, 2009 (Master Course, TU Delft, 44 hours
lecturing)
Engineering Informatics 2007, 2008, 2009 (Master Course, TU Delft, 54
hours lecturing)
Daily-Supervision at Delft University of Technology (2007-2009)
2 PhDs
2 Master
4 BSc (for a project)
Supervised Laboratories at Middle East Technical University (1999-2006)
Process Control Laboratory
Induction Machines Laboratory
Electrical Circuits Laboratory
2
Summer School Lecture as an Invited Speaker
Social Artifacts, IEEE-RAS / IFRR School of Robotics Science on Social
and Cognitive Robotics, Technical University of Iasi, Iasi, ROMANIA, July
12-17, 2010.
Seminars given in Nesin Mathematics Village, Sirince, Selcuk, Izmir, Turkey
Genetic Algorithms (2 hours), April 20-23, 2012, Evrim Çalıştayı (Workshop
on Evolution), http://evrimcalistayi2012.wordpress.com/.
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),
http://beyinbilinckuantum.wordpress.com/.
Multi Valued and Fuzzy Logic (6 hours), April 23-26, 2009, Kuantum
Mekaniği ve Bulanık Mantık Çalıştayı (Workshop on Quantum Physics and
Fuzzy Logic),http://sites.google.com/site/kuantumcalistayi/.
Completed Project
Altı Bacaklı Yürüyen Robot (Six-Legged Walking Robot) (2003), Middle East Technical
University Scientific Reseacrh Project (BAP – 2002 – 03 – 01 – 06), Budget: 46,272 $,
Authors: Mustafa Suphi Erden, Kemal Leblebicioglu, Status: Completed, 2003-2006.
Participated Projects
PERSEE; research topic: mechatronic systems to develop pre-operative minimally
invasive techniques in medicine; led by: Mauna Kea Technologies and EndoControl,
France; partners: Mauna Kea Technologies, EndoControl, Institute of Intelligent
Systems and Robotics (ISIR) of Pierre et Marie Curie University, department of digestive
pathologies of Institut Mutualiste Montsouris (IMM), the cancer center Institut Gustave
Roussy (IGR), in Villejuif (Cell Imaging, Gastroenterology and Biopathology
departments); starting date: April 2010.
DARWIN; research topic: System Evolvability; led by: Embedded Systems Institute,
Eindhoven, The Netherlands; partners: PHILIPS, ESI, TU Delft, TU/e, UTwente,
University of Groningen, Vrije Universteit Amsterdam; starting date: October 2005.
Software Generation; research topic: Generation of control software for mechatronic
systems; sponsored by: SenterNovem-IOP-IPCR, The Netherlands; partners: TU Delft,
UTwente, Océ, PHILIPS, Science & Technology, Vanderlande Industries; starting date:
July 2007.
OCTOPUS; research topic: System adaptability; led by: Embedded Systems Institute,
Eindhoven, The Netherlands; partners: Océ, EsI, TU/e, TU Delft, Radboud University
Nijmegen, UTwente; starting date: July 2007.
Theses
Engineering
PhD Thesis
Erden, Mustafa Suphi, PhD Thesis – Six-Legged Walking Machine: The RobotEA308, METU, Department of Electrical and Electronics Engineering, July 2006.
http://etd.lib.metu.edu.tr/upload/12607356/index.pdf
Master Thesis
Erden, Mustafa Suphi, MS Thesis – Conflict Resolution in Air Traffic Management,
METU, Department of Electrical and Electronics Engineering, September 2001.
Social Science
PhD Thesis
Erden, Mustafa Suphi, PhD Thesis – Citizenship and Ethnicity in Turkey and Iran,
METU, Department of Sociology, August 2010.
http://etd.lib.metu.edu.tr/upload/12612392/index.pdf
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Supervised Theses
1) Jochem Jonkman, MS Thesis – Detecting Human Intention in Physical
Human-Robot Interaction, Delft University of Technology, BioMechanical
Engineering, October 2009.
2) Bobby Slobodan Marić, MS Thesis – Robot Assistance for Manual Welding,
Delft University of Technology, BioMechanical Engineering, October 2009.
Publications
International Journal
Papers
Robotics
1) Erden, M.S. and Jonkman, J.A., 2012. “Physical human-robot interaction by
observing actuator currents”. Accepted for publication in International
Journal of Robotics and Automation, (to appear in) vol. 27: 3.
2) Erden, M.S., 2011. “Optimal protraction of a biologically inspired robot leg”.
Journal of Intelligent and Robotic Systems, 64: 301-322. DOI:
10.1007/s10846-011-9538-8
3) Erden, M.S., Maric, B., 2011. “Assisting manual welding with robot”.
Robotics and Computer Integrated Manufacturing, 27: 818–828. DOI:
10.1016/j.rcim.2011.01.003
4) Erden, M.S. and Tomiyama, T., 2010. “Human intent detection and
physically-interactive control of a robot without force sensors”. IEEE
Transactions on Robotics, 26(2): 370-382, (April 2010), ISSN: 15523098, DOI: 10.1109/TRO.2010.2040202.
5) 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.
6) 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.
7) Erden, M.S. and Leblebicioğlu, K., 2007. “Analysis of wave gaits for energy
efficiency.” Autonomous Robots, 23 (3): 213-230, DOI: 10.1007/s10514007-9041-z.
8) Erden, M.S. and Leblebicioğlu, K., 2007. “Torque distribution in a six-legged
robot.” IEEE Transactions on Robotics, 23 (1): 179-186.
9) 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 Modeling and Design
10) Van Beek,.T., Erden, M.S., and Tomiyama, T., 2010. “Modular Design of
Mechatronic Systems with Function Modeling”. Mechatronics, 20 (8): 850863. DOI: 10.1016/j.mechatronics.2010.02.002.
11) Cabrera, A.A.A., Foeken, M.J., Tekin, O.A., Woestenenk, K., Erden, M.S.,
De Schutter, B., Van Tooren, M.J.L., Babuska, R., van Houten, F.J.A.M.,
and
Tomiyama, T., 2010. “Towards automation of control software: a
review of challenges in mechatronic design”. Mechatronics, 20 (8): 876886. DOI: 10.1016/j.mechatronics.2010.05.003.
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12) 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
13) 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.
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: 159454-359-3).
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.
International Conferences
Robotics
1) Erden, M.S., Rosa, B., Szewczyk, J., and Morel, G., 2012. “Understanding
Soft Tissue Behavior for Microlaparoscopic Surface Scan”. Proc. of the
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS2012).
2)Rosa, B., Erden, M.S., Vercauteren, T., Szewczyk, J., and Morel,
G., 2012. “Scanning the surface of soft tissues with a micrometer precision
thanks to endomicroscopy based visual servoing”. Proc. of the IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS2012).
3)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.
4)Erden, M.S. and Leblebicioğlu, K., 2008. “Optimal Protraction of a ThreeJoint Robot Leg”, In Proceedings of 17th IFAC World Congress, July 6-11,
Seoul, South Korea, pp. 1703-1710.
5)Erden, M.S. and Leblebicioğlu, K., 2006. “Free gait generation with
reinforcement learning for a six-legged robot.” In Proceedings of the 9th
International Conference on Climbing and Walking Robots – CLAWAR 2006,
12-14 September, Brussels, Belgium, pp. 413-424.
6)Erden, M.S., Leblebicioğlu, K, 2005. “Dynamic gait pattern generation with
reinforcement learning.” Presented in the congress of IFAC 2005, July 4-8,
Prague.
7)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.
8)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 15th IFAC World
Congress, Barcelona, Spain, 21-26 July 2002, Vol. K: 503-508.
Function Modeling and Design
9)Alvarez Cabrera, A.A., Erden, M.S., Tomiyama, T., 2009, “On the Potential of
Function-Behavior-State (FBS) Methodology for the Integration of Modeling
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Tools”, Proc. of CIRP Design 09 Conference: Competitive Design, Cranfield,
UK, pp. 412-419.
10)Alvarez Cabrera 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.
11)Chmarra M.K., Cabrera A.A.A., Van Beek T., D'Amelio, V., 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
12)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.
13)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.
14)Erden, M.S., K. Leblebicioğlu, U. Halıcı, 2002. “Conflict resolution by
negotiation.” In Proceedings of the 15th IFAC World Congress, Barcelona,
Spain, 21-26 July 2002, Vol. L: 471-476.
Engineering Education
15)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.
Workshop Paper
Turkish Conferences
Erden, M.S and Tapus, A, (2010), “Postural expressions of emotions in a
humanoid robot for assistive applications”, Poster paper in Workshop on Learning
for Human-Robot Interaction Modeling under the Conference Robotics Science
and Systems 2010.
1)Erden, M.S., Leblebicioğlu, K, 2006. “Altı-bacaklı robotta burgu kuvvetlerinin dağıtımı
(Turque distribution for a six-legged robot).” 14. IEEE Sinyal İşleme 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 İşleme 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, İstanbul, 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 İşleme
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
İşleme ve Uygulamaları Kurultayı Bildiriler Kitabı, İstanbul, 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 İşleme ve Uygulamaları Kurultayı Bildiriler
Kitabı, İstanbul, 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
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İşleme 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 İki 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 İşleme 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, UludağBursa, 215-218.
Refereed Journals
Journal of Intelligent and Robotic Systems
IEEE Transaction on Robotics
Mechatronics
International Journal of Systems, Man and Cybernetics, Part-A
International Journal of Systems, Man and Cybernetics, Part-B
IEEE Transactions on Intelligent Transportation Systems
Advanced Engineering Informatics
Artificial Intelligence for Engineering and Design, Analysis and
Manufacturing
References
Engineering:
Prof. Dr. Tetsuo TOMIYAMA ([email protected], Delft University of Technology, The
Netherlands) (Supervisor during Post-doc Period at TU Delft 2007-2010)
Prof. Dr. Guillaume MOREL ([email protected], Institut des Systèmes Intelligents et de
Robotique, Université Pierre et Marie Curie, Paris, France) (Supervisor during Post-doc
Period at ISIR-UPMC, 2011-2012)
Prof. Dr. Jérôme Szewczyk ([email protected], Institut des Systèmes Intelligents et de
Robotique, Université Pierre et Marie Curie, Paris, France) (Daily Supervisor during
Post-doc Period at ISIR-UPMC, 2011-2012)
Prof. Dr. Kemal LEBLEBİCİOĞLU ([email protected], Middle East Technical
University, Ankara, Turkey) (PhD and MS Theses Supervisor for engineering,
Laboratory Leader at METU, 1999-2006)
Prof. Dr. Uğur HALICI ([email protected], Middle East Technical University, Ankara,
Turkey) (Co-Laboratory Leader and Member of Follow Up Juries for PhD and MS
Theses at METU, 1999-2006)
Social Science
Prof. Dr. Mesut YEĞEN ([email protected], Istanbul Sehir University, Turkey)
(PhD Thesis Supervisor for sociology)
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