Adana Science and Technology
University
Ogretmenler Street
Adana, Turkey
0553 607 4484
Onder Tutsoy
[email protected]
Education
Doctor of Philosophy, (Ph.D), The University of Manchester, The School of Electrical
and Electronic Engineering, Manchester, England, 2009-2013.
• Thesis title: On the Reinforcement Learning Analysis and Learning the Control of
Humanoid Robot Leg
• Supervised by Dr. Martin Brown and Prof. Hong Wang
Master of Science, (MSc), The University of Manchester, Advanced Systems and
Control Engineering, Manchester, England, 2008-2009
• Dissertation Title: Robust Experimental Design and Control of Biological Systems
• Supervised by Dr. Martin Brown
Academic Preparation, The University of Nottingham, Nottingham, England 2007-2008
• Dissertation Title: Nuclear Power Plants; An Overview
• Supervised by a number of lecturers from the academic preparation department
Bachelor of Science, The University of Firat, Technical Teaching Faculty, Elazig,
Turkey 2001-2005
• Top student of the Faculty in 2005
Research Interests / Research Profile
• Artificial Intelligence
• Humanoid Robotics
• Industrial Robotics
• Multi-body Modeling and Simulation
• Optimal Control
Research Softwares
• MapleSim
• Robotran
• Matlab
• Modelica
• Maple
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Publications, Presentations and Abstracts
Journals:
1. O. Tutsoy, D. Erol Barkana, Tugal H. ‘’ Completely Model Free Adaptive Control
Design in Presence of Par-ametric, Non-parametric Uncertainties and Random
Control Signal Delay’’, IET Control Theory and applications, Under Review.
2. O. Tutsoy, D. Erol Barkana and S. Çolak, “Learning to balance an NAO robot using
reinforcement learning with symbolic inverse kinematic,” Transactions of the
Institute of Measurement and Control, DOI: 10.1177/0142331216645176, 2016.
3. O. Tutsoy and M. Brown, “Chaotic Dynamics and Convergence Analysis of
Temporal Difference Algorithms with Bang-Bang Control,” Optimal Control,
Applications and Methods, DOI: 10.1002/oca.2156, 2015.
4. O. Tutsoy and M. Brown “An analysis of value function learning with piecewise
linear control,” Journal of Experimental and Theoritical Artificicial Intelligence , DOI:
10.1080/0952813X.2015.1020517, 2015.
5. O. Tutsoy “CPG Based RL Algorithm Learns to Control of Humanoid Robot Leg,”
International
Journal
of
Robotics
DOI:10.2316/Journal.206.2015.2.206-4185, 2015.
and
Automation,
6. O. Tutsoy and M. Brown, “Reinforcement Learning Analysis for a Minimum Time,
Balance Problem,”Transactions of the Institute of Measurement and Control, DOI:
10.1177/0142331215581638.
7. O. Tutsoy, “Adaptive Estimator Design for Unstable OE Systems: A Test Problem
and Traditional System Identification Base Analysis, Journal of Systems and
Control Engineering, DOI: 10.1177/0959651815603910.
8. O. Tutsoy, “Design and Comparison Base Analysis of Adaptive Estimator for
Completely Unknown Linear Systems in the Presence of OE Noise and
Constant Input Time Delay”, Asian Journal of Control, DOI: 10.1002/asjc.1184.
Conferences:
1. O. Tutsoy, D. Erol Barkana, F. N. Ozdil, ‘’ Design and evaluation of an
adaptive estimator in the presence of unknown system dynamics and
ARMAX type noise’’, in The 1st International Mediterian Science and
Engineering Congress, 2016.
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2. F. Gungor, O. Tutsoy, ‘’ Two steps for chair recognition: Feature extraction
and shape descriptors’’, in The 1st International Mediterian Science and
Engineering Congress, 2016.
3. O. Tutsoy, M. Brown, H. Wang, “Convergence analysis of temporal difference
learning algorithms based on a test problem,” in The 14th International
Conference on Control and Applications (IASTED ), 2012.
4. O. Tutsoy, M. Brown and H. Wang, “Reinforcement learning algorithm application
and multi-body system design by using MapleSim and Modelica,” in
International Conference on Advanced Mechatronic Systems (ICAMechS), 2012, pp.
650-655.
5. M. Brown and O. Tutsoy, “An exemplar test problem on parameter convergence
analysis of temporal difference algorithms,” in 10th World Congress on Intelligent
Control and Automation (WCICA), 2012, pp. 2925-2930.
6. M. Brown, and O. Tutsoy, “On the analysis of parameter convergence for temporal
difference learning of an exemplar balance problem,” (Extended abst.) in Proc.
of the 12th An. Con. on Towards Autonomous Robotic Systems, 2011, pp. 404-405.
7. O. Tutsoy and M. Brown. (2010, Sep.) “Convergence analysis of reinforcement
learning approaches to humanoid locomotion,” in UK Automatic Control
Conference (UKACC), 2010.
Local Conferences:
1. O. Tutsoy ve N. S. Ozbek, İnsansı Robotların Robotran MapleSim ile
Modellenmesi, Türkiye Otomatik Kontrol Konferansı, Pamukkale Üniversitesi ,
Denizli
2. N. S. Ozbek ve Onder Tutsoy, Dört Rotorlu Dönerkanat Tip Bir İnsansız Hava
Aracı için Bulanık Mantık Tabanlı PID Kontrol Uygulaması, Türkiye Otomatik
Kontrol Konferansı, Pamukkale Üniversitesi , Denizli
Master of Science Mentoring Experience (Second Supervisor)
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Joan March, Joint Control Design of Delta Robot ABB 360 FlexPicker, The
University of Manchester, 2013.
Xiaohe Xu, Controller Design for a Compliant Manipulator ABB 140, The
University of Manchester, 2013.
Nazul Perez Campillo, Simplified Robot Gripper Design, The University of
Manchester, 2013.
Harun Tugal, Design, Contr0l and Sensitivity Analysis of the Delta Robot,
The University of Manchester, 2013.
Peiqi Xu, Dynamics and Simulation of 140 Robot, The University of
Manchester, 2013.
Working Experience:
Post-Doctor Researcher, The University of Manchester, The School of Electrical and
Electronic Engineering, Manchester, England, January 2013-Present.
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Technical Teacher, The Ministry of National Education, The School of Electrical and
Electronic Teaching, Mus, Turkey, 2004-2006.
Teaching Experience
• Matters and Energy 2, The University of Manchester, 2012.
• Matters and Energy 1, The University of Manchester, 2012.
• World of Electrons, The University of Manchester, 2012.
• Electrical Machines, The Ministry of National Education, Turkey, 2005-2007.
• Electricity Transmission , The Ministry of National Education, Turkey, 2005-2007.
• Automatic Control, The Ministry of National Education, Turkey, 2005-2007.
• Logic and Systems, The Ministry of National Education, Turkey, 2005-2007.
Teaching Assistant Experience
• Signal and Processing, The University of Manchester, 2011.
• System Identification, The University of Manchester, 2010-2011.
• Fuzzy Logic and Neural Network , The University of Manchester, 2011
• Artificial Intelligence and Robotics , The University of Manchester, 2011-2012
• System Identification & Adaptive Control, The University of Manchester, 2012-2013
Consultation Experience
• Academic Advisor, Grosvenor Hall, The University of Manchester, 2010-2013.
Future Work/Plan
• Application and analysis of the CPG based Reinforcement Learning Algorithms to a
humanoid robot by using MapleSim/Robotran multi-body modeling software.
• Expansion of the Reinforcement Learning applications to other autonomous
systems such as underwater vehicles and helicopters.
• Addressing various learning/control problems by performing a test problem based
analysis for higher order unstable systems.
Projects
•. TÜBİTAK 3001- Stokastik, Kararsız, Değişken Zaman Kontrol Sinyali Gecikmeli Ve
Belirsiz Değişkenli Doğrusal Sistemlerde Öğrenme Temelli Kontrolör Tasarımı Ve
Analizi, 2015-2017, Continue.
•. BAP- ABB IRB 120 Sanayi Tipi Robotun Modellemesi ve Analizi, 2016, Completed.
•. BAP- ABB IRB 120 Endüstriyel Robotunun MapleSim ile Modellenmesi ve
Kontrolü, 2017-2018, Continue.
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