Tufan Kumbasar

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• PhD
• Professor (Full) at Istanbul Technical University

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...

Lane-change decision-making for vehicles is a challenging task for many reasons, including traffic rules, safety, and the stochastic nature of driving. Because of its success in solving complex problems, deep reinforcement learning (DRL) has been suggested for addressing these issues. However, the studies on DRL to date have gone no further than va...

This paper introduces an exploration of General Type-2 (GT2) Fuzzy Logic Systems (FLSs) via Zadeh's (Z) GT2 Fuzzy Set (FS) definition, with a strong emphasis on advancing Uncertainty Quantification (UQ). At the heart of our contribution is the introduction of Z-GT2-FLS, formed through the integration of Z-GT2-FS with the $\alpha$ -plane represent...

This study presents an odyssey of enhancements for Interval Type-2 (IT2) Fuzzy Logic Systems (FLSs) for efficient learning in the pursuit of generating Prediction Intervals (PIs) for high-risk scenarios. We start by presenting enhancements to Karnik-Mendel (KM) and Nie-Tan (NT) Center of Sets Calculation Methods (CSCMs) to increase their learning c...

This paper presents FedAlign, a Federated Learning (FL) framework particularly designed for System Identification (SYSID) tasks by aligning state representations. Local workers can learn State-Space Models (SSMs) with equivalent representations but different dynamics. We demonstrate that directly aggregating these local SSMs via FedAvg results in a...

Recent methods in quantile regression have adopted a classification perspective to handle challenges posed by heteroscedastic, multimodal, or skewed data by quantizing outputs into fixed bins. Although these regression-as-classification frameworks can capture high-density prediction regions and bypass convex quantile constraints, they are restricte...

Bu çalışmada, yapay sinir agı (YSA) kullanılarak geliştiri-len durum uzay modelinin dogrusal olmayan sistem tanımlama ve durum tahmini performansı incelenmiştir. Önerilen YSA durum uzay modeli, durum uzay modelleri ile yapay ögrenme tek-niklerini entegre ederek, karmaşık sistem dinamiklerini etkin biŗ sekilde modellemeyi amaçlamaktadır. Model, sist...

Özellikle sivil havacılıkta kullanılan fırınlardaki sınırlı alanlarda yer alan santrifüj fanların yüksek performans göstermesi beklenmektedir. Geleneksel tasarım yaklaşımlarında, bu beklentiyi karşılamak için genellikle deneme yanılma yöntemine ve bazı dogmatik kabullere başvurulur. Bu çalışmanın amacı, sivil havacılıkta fırınlarda kullanılan santr...

In this paper, we present a novel formation control approach in the framework of event-triggered (ET) control to provide a solution to the surveillance problem. To do this, we identify two main challenges which are the switching topology of the drones and the limited bandwidth of the communication network, which are also valid in formation applicat...

This paper explores the realm of intelligent systems through an analogy inspired by RLC circuits, delving into the interconnected dynamics of reasoning, learning, and control. Leveraging the simplicity and clarity of the analogy, we navigate the conceptual landscape by drawing parallels between electrical components and the cognitive functions of m...

This study revisits the fuzzy control system design problem with the motto “Fuzzy with Conventional Control”, inspired by L.A. Zadeh’s statement in the famous debate “Some Crisp Thoughts on the Fuzzy versus Conventional Control.” Focused on single-input (SI) fuzzy PIDs (FPIDs), our approach synergizes fuzzy and conventional control, presenting simi...

This paper explores the realm of intelligent systems through an analogy inspired by RLC circuits, delving into the interconnected dynamics of reasoning, learning, and control. Leveraging the simplicity and clarity of the analogy, we navigate the conceptual landscape by drawing parallels between electrical components and the cognitive functions of m...

We present the design and deployment of a capsule endoscope via external electromagnets for locomotion in large volumes alongside its digital twin implementation based on interval type-2 fuzzy logic systems (IT2-FLSs). To perform locomotion, we developed an external mechanism comprising five external electromagnets on a two-dimensional translationa...

Accurately assessing uncertainty and prediction of a regression model is essential for making informed decisions, especially in high-risk tasks. Conformal Prediction (CP) is a powerful distribution-free uncertainty quantification framework for building such models as it is capable to transform a single-point prediction of any machine learning model...

This study presents the design and real-time applications of an Interval Type-2 Fuzzy PID (IT2-FPID) control system on an unmanned aerial vehicle (UAV) with a flexible cable-connected payload in comparison to the PID and Type-1 Fuzzy PID (T1-FPID) counterparts. The IT2-FPID control has significant stability, disturbance rejection, and response time...

In micromobility applications, maintaining satisfactory motor drive performance in the full torque-speed envelope of an outer rotor non-salient permanent magnet synchronous machine is a challenge due to the drastic performance degradation with the increasing non-linearity above the nominal ratings of the motor. In this article, we tackle this chall...

This article presents a novel autonomous navigation approach that is capable of increasing map exploration and accuracy while minimizing the distance traveled for autonomous drone landings. For terrain mapping, a probabilistic sparse elevation map is proposed to represent measurement accuracy and enable the increasing of map quality by continuously...

In the last two decades, the use of quadrotors has become widespread among the aerospace, control, and robotics community. Although many researchers have mentioned the problem of achieving high accuracy in trajectory-tracking while obtaining low oscillations for quadrotors, it is still an area open to research and development. In this paper, we int...

In this paper, we present an advanced adaptive cruise control (ACC) concept powered by Deep Reinforcement Learning (DRL) that generates safe, human-like, and comfortable car-following policies. Unlike the current trend in developing DRL-based ACC systems, we propose defining the action space of the DRL agent with discrete actions rather than contin...

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...

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...

A Correction to this paper has been published: https://doi.org/10.1007/10489.1573-7497

In this paper, we propose a novel composite learning framework for Interval Type-2 (IT2) Fuzzy Logic Systems (FLSs) to train regression models with a high accuracy performance and capable of representing uncertainty. In this context, we identify three challenges (i) the uncertainty handling capability, (ii) the construction of the composite loss, a...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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 (...

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...

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...

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...

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...

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...

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...

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...

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)...

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...

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...

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...

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...

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...

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...

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...