Tufan Kumbasar

Tufan Kumbasar
Istanbul Technical University · Department of Control and Automation Engineering

PhD

About

112
Publications
33,755
Reads
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1,487
Citations
Introduction
My research interests lay predominately in the areas of Computational Intelligence and Machine Learning, which includes with special interest in Fuzzy Logic, Evolutionary Algorithms and Intelligent Systems, and their applications in the areas of robotics, human-machine interactions, industrial processes and supply-demand forecasting. I am particularly interested in the theoretical foundations and the real-world applications of Type-2 Fuzzy Logic Systems.
Additional affiliations
June 2018 - present
Istanbul Technical University
Position
  • Professor (Associate)
January 2016 - June 2016
University of Alaska Fairbanks
Position
  • Professor
January 2014 - July 2018
Istanbul Technical University
Position
  • Professor (Assistant)
Education
June 2008 - June 2012
Istanbul Technical University
Field of study
  • Control and Automation Engineering

Publications

Publications (112)
Article
Full-text available
This paper presents a systematic and interpretable design approach to generate type-2 (T2) fuzzy logic-based linguistic pursuing strategies (PSs) and their deployment to a real-world pursuit-evasion game (PEG). First, we have developed a novel T2 fuzzy logic-based strategy planner (T2-FSP). Then, through detailed theoretical investigations on the i...
Article
In this study, we propose a novel Interval Type-2 (IT2) Fuzzy activation layer that is composed of Single input IT2 (SIT2) Fuzzy Rectifying Units (FRUs) to improve the learning performances of Deep Neural Networks (DNNs). The novel SIT2-FRU has tunable parameters that not only define the slopes of the positive and negative quadrants but also the ch...
Article
Full-text available
The difficulty in teaching control theory is that the lecturer must not only provide all the theoretical concepts but also visualize the control system in time and frequency domains. In control system courses, the visualizations are usually provided with roughly sketches on whiteboards and thus might be difficult to understand. In this paper, a Dee...
Article
This article aims to provide a new perspective on how the deployment of general type-2 (GT2) fuzzy sets affects the mapping of a class of fuzzy logic controllers (FLCs). It is shown that an α -plane represented a GT2-FLC is easily designed via baseline type-1 and interval type-2 FLCs and two design parameters (DPs). The DPs are the total number o...
Article
Full-text available
Deep learning (DL) methods have brought world-shattering breakthroughs, especially in computer vision and classification problems. Yet, the design and deployment of DL methods in time series prediction and nonlinear system identification applications still need more progress. In this paper, we present DL frameworks that are developed to provide nov...
Article
In recent years, the rapid development in contemporary technology has brought nano quadcopters with high agility. This paper presents a new differential flatness-based Single Input Fuzzy Logic Controller (SFLC) structure for aggressive maneuvering control alongside its real-world application on Crazyflie 2.1 nano quadcopter. We propose both Type-1...
Article
Full-text available
A Correction to this paper has been published: https://doi.org/10.1007/10489.1573-7497
Article
In this paper, we provide a complete framework for the design of genetically evolved cognitive tracking controller based on interval type-2 (IT2) fuzzy cognitive map (FCM). We construct the cognitive controller based on a nonlinear controller by transforming its representation into a FCM. This representation gives the opportunity to prove the stabi...
Chapter
Full-text available
Autonomously overtaking cars is one of the most challenging functionality when developing self-driving vehicles due to its safe crucial nature. This study presents a novel intelligent overtaking assistant based on fuzzy logic and its deployment into TORCS environment. For achieving this goal, the developed intelligent overtaking assistant decides w...
Article
In this paper, we propose a novel Interval Type-2 (IT2) Fuzzy Cognitive Map (FCM)-based flight control system to solve the altitude, attitude and position control problems of quadcopters. The proposed IT2-FCM encompasses all concepts related to drone for a satisfactory path-tracking and stabilizing control performance. The degree of mutual influenc...
Preprint
Full-text available
Automated lane change is one of the most challenging task to be solved of highly automated vehicles due to its safety-critical, uncertain and multi-agent nature. This paper presents the novel deployment of the state of art Q learning method, namely Rainbow DQN, that uses a new safety driven rewarding scheme to tackle the issues in an dynamic and un...
Article
Full-text available
New progress in the computational power of the flight controller industry drives quadcopters to be more preferable in various real-world applications. On the other hand, for different assignments, conventional quadcopter designs lack the ability to alter their configuration to satisfy the need to adapt to the requirements of the mission. In order t...
Article
In this paper a new robust fractional-order predictive controller is presented and employed to regulate the glucose level in type-1 diabetes. The dynamics of the system is fully unknown an it is online estimated by a fractional-order model using interval Type-2 (T2) fuzzy logic system. The proposed control system is composed of two main controllers...
Article
Full-text available
This paper focuses on designing an efficient adaptive backstepping controller for multi-input multi-output (MIMO) cancer immunotherapy system. The proposed controller takes the advantage of the backstepping control and the property of universal approximation of the Laguerre polynomials. In this structure; the Laguerre polynomials, whose weights are...
Article
In this study, we propose a fuzzy logic-based autonomous car control system and its deployment into the JavaScript Racer game. The main design goal of the self-driving car control system is to end up with an intelligent vehicle control system that is capable to keep the car finish race in the shortest time as possible while keeping the car on the r...
Conference Paper
Full-text available
Minidrones are widely used as they are not only fast quadcopters with high manoeuvrability but also excellent research platforms for indoor usage. In this study, we provide the design and deployment of the PI-PD and Fuzzy PI-PD (FPI-PD) structures to solve position control problem of the Parrot Mambo Minidrone. In this context, we derive nonlinear...
Research Proposal
IEEE CIDM 2019 (http://ssci2019.org/cidm.html) organized by the IEEE Computational Intelligence Society Data Mining Technical Committee is one of the largest and best attended symposia of the of the IEEE Symposium Series of Computational Intelligence (IEEE SSCI 2019). IEEE CIDM 2019 will bring together researchers and practitioners from around the...
Conference Paper
Full-text available
The hand gesture recognition systems deal with identifying a given gesture performed by the hand. This work addresses a hand gesture recognition method to classify and recognize the numbers from 0 to 9 in Turkish Sign Language based on surface electromyography (EMG) signals collected from a wearable device, namely the Myo armband. To accomplish suc...
Conference Paper
Full-text available
The automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and the image processing algorithms for welding points of gas leakage test by dividing three areas of chassis are proposed. For this purpo...
Conference Paper
Full-text available
In this study, we propose a fuzzy logic based self-driving car control system and its deployment into the JavaScript Racer game. In the design of the self-driving system, it is aimed to design an intelligent vehicle control system such that the racing car finishes the race in the shortest time without getting out of the road. To accomplish such a g...
Conference Paper
Full-text available
Quadcopters are useful for situations such as natural disasters, military purposes, healthcare implementations and intelligent systems. In order to be entirely applicable to these engineering areas; being portable, which means a foldable mechanical design for larger quadcopters, is vital. This brings up a new research topic, namely self-arm managem...
Conference Paper
Full-text available
This paper presents the mechanical design of a custom built two wheeled inverted pendulum, named as YAFT, and an intelligent control system structure to solve its control problems. YAFT is equipped with various sensors, from IMU to camera, and processing units, from STM to Raspberry PI, that give the opportunity to deploy YAFT in telepresence, cogn...
Article
Interval type-2 fuzzy neural networks (IT2FNNs) can be seen as the hybridization of interval type-2 fuzzy systems (IT2FSs) and neural networks (NNs). Thus, they naturally inherit the merits of both IT2FSs and NNs. Although IT2FNNs have more advantages in processing uncertain, incomplete, or imprecise information compared to their type-1 counterpart...
Article
Full-text available
As the extension of the linear inverted pendulum ( LIP ) and planar inverted pendulum ( PIP ), this paper proposes a novel spatial inverted pendulum ( SIP ). The SIP is the most general inverted pendulum ( IP ) than any existing IP. The model of the SIP is presented for the first time. The SIP inherits all the characteristics of the LIP and the PIP...
Conference Paper
Full-text available
Bu makalede, labirent problemini nedensel bir şekilde çözmek için Q öğrenme algoritmasına dayanan bir yaklaşım önerilmiştir. Referans labirentlerinin boyut indirgeme gerektirmeyen minimal yapıya sahip olduğu varsayılmaktadır. Çevrimiçi öğrenmeyi çözmek ve labirent problemini çözmek için bir Q öğrenme algoritması geliştirilmiştir. Diğer algoritmalar...
Conference Paper
Full-text available
Nowadays, nano quadcopters have attracted research interest since they are fast quadcopters with high maneuverability. In this study, the design and deployment of a Fuzzy PID (FPID) controller structure is presented to solve the position control problem of the Crazyflie 2.0 nano quadcopter in a real-world environment. In this context, we will first...
Article
Full-text available
Numerous types of hybridizations between type 2 fuzzy logic system (T2FLS) and sliding mode control (SMC) have been proposed to construct an intelligent and robust controller that departs from the drawbacks of SMC and T2FLS. Recently, these hybridizations have been extended to the hybrid structures that are composed of type 2 fuzzy neural network (...
Article
The control of the X-Z inverted pendulum is a challenging work since the X-Z inverted pendulum is an underactuated, open-loop unstable and multi-input-multi-output (MIMO) nonlinear system. In this paper, we will present a novel state transformation method for the X-Z inverted pendulum and Big Bang–Big Crunch (BBBC) optimized hierarchical sliding-mo...
Chapter
Full-text available
In this chapter, we will present the novel applications of the Interval Type-2 (IT2) Fuzzy Logic Controllers (FLCs) into the research area of computer games. In this context, we will handle two popular computer games called Flappy Bird and Lunar Lander. From a control engineering point of view, the game Flappy Bird can be seen as a classical obstac...
Conference Paper
Full-text available
Melanoma is certainly the deadliest skin cancer. Clinicians try to detect melanoma at early stages in order to increase the successful treatment rate by using dermoscopes. We have designed a digital dermoscope that is both mobile and highly sensitive for automatic classification. We developed an accurate image processing software and a learning pro...
Article
Full-text available
This paper aims to provide a clear explanation of the role of the footprint of uncertainty (FOU) parameters on the control signal generation and, thus, to increase the interpretability of specially structured interval type-2 (IT2) fuzzy logic controllers, namely single input IT2 fuzzy PID (SI-IT2-FPID) controller. In this context, we extend the ana...
Conference Paper
In this paper, a real-world pursuit evasion game is developed by using the Sphero 2.0 and Sphero BB8 spherical robots. The game scenario is constructed as the evader droid BB8 will be controlled by a human user while the pursuer Sphero 2.0 will be navigated through the game environment via the real-time pursuing control system. In order to develop...
Poster
Full-text available
Type-2 fuzzy logic control is a technology which takes the fundamental concepts in control from type-1 fuzzy logic and expands upon them in order to deal with higher levels of uncertainty presented in many real-world control problems. A variety of control application areas have been addressed with type-2 fuzzy logic, from the control in steel produ...
Article
Full-text available
Recently, it has been demonstrated that interval type-2 (IT2) fuzzy sets and systems are powerful tools in representing and controlling nonlinear systems. Thus, an inverse IT2 fuzzy model (FM) based controller might be an efficient way to control nonlinear processes. In this context, IT2-FM inversion methods have been proposed and successfully impl...
Article
In this paper a novel hybrid direct/indirect adaptive fuzzy neural network (FNN) moving sliding mode tracking controller for chaotic oscillation damping of power systems is developed. The proposed approach is established by providing a tradeoff between the indirect and direct FNN controllers. It is equipped with a novel moving sliding surface (MSS)...
Article
For Interval Type-2 (IT2) fuzzy sets and systems, calculating the centroid and performing type reduction are operations that must be taken into consideration. The Karnik-Mendel Algorithm (KMA) and its enhancements have been usually employed to perform these operations. In KMAs, these IT2 fuzzy operations are defined as nonlinear optimization proble...
Conference Paper
Full-text available
In this study, we will present the novel application of Type-2 (T2) fuzzy control into the popular video game called flappy bird. To the best of our knowledge, our work is the first deployment of the T2 fuzzy control into the computer games research area. We will propose a novel T2 fuzzified flappy bird control system that transforms the obstacle a...
Article
Full-text available
Bu çalışmada, Aralık değerli tip-2 bulanık PID (ADT2-BPID) kontrolörlerin içyapıları incelenmiş olup ve de yeni bir öz-ayarlama önerilmiştir. Bu amaçla ilk olarak geleneksel yani tip-1 bulanık PID (T1-BPID) kontrolörler ile ADT2-BPID kontrolörlerin yapısal özellikleri ve tasarım parametreleri incelenmiştir. T1-BPID kontrolörler için önerilmiş olan...
Conference Paper
Full-text available
In the last two decades, we have witnessed that Interval Type-2 Fuzzy Logic Systems (IT2-FLSs) have been successfully implemented in various engineering areas. In this paper, we will introduce a free open source Matlab/Simulink toolbox for the development of IT2-FLSs for a wider accessibility to users beyond the type-2 fuzzy logic community. The pr...
Research
Full-text available
Type-2 fuzzy logic control is a technology which takes the fundamental concepts in control from type-1 fuzzy logic and expands upon them in order to deal with higher levels of uncertainty presented in many real-world control problems. A variety of control application areas have been addressed with type-2 fuzzy logic, from the control in steel produ...
Conference Paper
Full-text available
In the last two decades, we have witnessed that Interval Type-2 Fuzzy Logic Systems (IT2-FLSs) have been successfully implemented in various engineering areas. In this paper, we will introduce a free open source Matlab/Simulink toolbox for the development of IT2-FLSs for a wider accessibility to users beyond the type-2 fuzzy logic community. The pr...
Conference Paper
Full-text available
Since the first paper on fuzzy sets was published by Professor Lotfi Zadeh in 1965, fuzzy sets and systems have witnessed a remarkable advancement in theory and applications. Over these fifty years, fuzzy systems have been successfully applied in various fields. Fuzzy sets and systems have strongly influenced research and development in other areas...
Conference Paper
Full-text available
In this paper, a systematic approach for modelling time series using type-2 fuzzy sets is proposed. In many areas in economic, engineering, meteorology etc., modelling time series as process models, and using these models for forecasting are widely used. In traditional approach, the linear process models are used for time series modelling, neverthe...
Conference Paper
Full-text available
In this study, we will present a novel Internal Model Control (IMC) based Self-Tuning (ST) mechanism to tune the Scaling Factors (SFs) of the fuzzy PID controllers in an online manner. Moreover, we will present a fuzzy PI-D (FPI-D) structure in order to eliminate the derivative kick and the effect of noise on the control signal. The proposed IMC ba...
Conference Paper
Full-text available
This paper introduces an enhancement to linguistic forecast representation using Triangular Fuzzy Numbers (TFNs) called Enhanced Linguistic Generation and Representation Approach (ElinGRA). Since there is always an error margin in the predictions, there is a need to define error bounds in the forecast. The interval of the proposed presentation is g...