Metrikler
Yayın
33
Açık Erişim
2
BM Sürdürülebilir Kalkınma Amaçları
Biyografi
Ugur Tumerdem received his B.Sc. degree in Mechatronics from Sabanci University, Istanbul in 2005, his M.Sc. and Ph.D. degrees in Integrated Design Engineering from Keio University, Tokyo in 2007 and 2010 respectively. He worked as a Postdoctoral Fellow at IBM Research - Tokyo. Since 2012, he is a faculty member in the Department of Mechanical Engineering at Marmara University, Istanbul. His current research interests include haptics in robotic surgery systems, with a focus on force estimation algorithms, haptic teleoperation architectures and novel mechanism design for haptic interfaces and surgical tools.
Eğitim Bilgileri
2007 - 2010
2007 - 2010Doktora
Keio Üniversitesi, Graduate School Of Science And Technology, Japonya
2005 - 2007
2005 - 2007Yüksek Lisans
Keio Üniversitesi, Graduate School Of Science And Technology, Japonya
2001 - 2005
2001 - 2005Lisans
Sabancı Üniversitesi, Türkiye
Yaptığı Tezler
2010
2010Doktora
High performance haptic teleoperation and collaboration over networks
Keio Üniversitesi, Graduate School Of Science And Technology
2007
2007Yüksek Lisans
Acceleration Consensus for Networked Robotics
Keio University
Yabancı Diller
C2 Ustalık
C2 Ustalıkİngilizce
Araştırma Alanları
Makina Teorisi ve Dinamiği
Sistem Dinamiği ve Kontrolü
Mekanizmalar
Robotik
Mekatronik
Dinamik Sistemlerin Modellenmesi ve Benzetimi
Akademik Ünvanlar / Görevler
2022 - Devam Ediyor
2022 - Devam EdiyorDoç. Dr.
Marmara Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü
2012 - Devam Ediyor
2012 - Devam EdiyorDr. Öğr. Üyesi
Marmara Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümü
Akademi Dışı Deneyim
2011 - 2011
2011 - 2011Doktora Sonrası Araştırmacı
IBM RESEARCH - TOKYO, Doktora Sonrası Araştırmacı
2011 - 2011
2011 - 2011Postdoctoral Fellow
Şirket, IBM Research, Postdoctoral Fellow
Yönetilen Tezler
2022
2022Yüksek Lisans
Development of a learning based trajectory tracking controller for autonomous vehicles
Tümerdem U. (Danışman)
H.ŞENER(Öğrenci)
2019
2019Yüksek Lisans
Development of a sensorless haptic teleoperation system for robotic minimally invasive surgery
TÜMERDEM U. (Danışman)
N.Yılmaz(Öğrenci)
2019
2019Yüksek Lisans
Development of a novel 4-DOF wrist-gripper mechanism for robotic minimally invasive surgery
TÜMERDEM U. (Danışman)
M.Bazman(Öğrenci)
Makaleler
Tümü (11)
SCI-E, SSCI, AHCI (8)
SCI-E, SSCI, AHCI, ESCI (8)
Scopus (9)
TRDizin (2)
Diğer Yayınlar (1)
2024
20241. Enhancing robotic telesurgery with sensorless haptic feedback
Yilmaz N., Burkhart B., Deguet A., Kazanzides P., TÜMERDEM U.
International Journal of Computer Assisted Radiology and Surgery
, cilt.19, sa.6, ss.1147-1155, 2024 (SCI-Expanded)
2024
20242. Admittance Switching for Stability and Transparency in Human-Robot Collaborative Microsurgery
Banks B., Salehizadeh M., Munawar A., Taylor R. H., TÜMERDEM U.
IEEE Robotics and Automation Letters
, cilt.9, sa.2, ss.1891-1898, 2024 (SCI-Expanded)
2024
20243. Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit
Yilmaz N., Burkhart B., Deguet A., Kazanzides P., TÜMERDEM U.
IEEE Robotics and Automation Letters
, cilt.9, sa.2, ss.971-978, 2024 (SCI-Expanded)
2022
20224. An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation
Bazman M., Yılmaz N., Tümerdem U.
JOURNAL OF MECHANICAL DESIGN - TRANSACTIONS OF THE ASME , cilt.144, sa.06, ss.1-12, 2022 (SCI-Expanded)
2022
20225. Transfer of learned dynamics between different surgical robots and operative configurations
Yilmaz N., Zhang J., Kazanzides P., TÜMERDEM U.
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY
, cilt.17, sa.5, ss.903-910, 2022 (SCI-Expanded)
2021
20216. A unifying framework for transparency optimized controller design in multilateral teleoperation with time delays
TÜMERDEM U., Yilmaz N.
CONTROL ENGINEERING PRACTICE
, cilt.117, 2021 (SCI-Expanded)
2021
20217. A Study on the L2 Stability and Transparency of Three Channel Control Architectures in Bilateral Teleoperation under Time Delays
Tümerdem U.
International Journal of Advances in Engineering and Pure Sciences , cilt.33, sa.3, ss.455-466, 2021 (Hakemli Dergi)
2019
20198. Three-channel control architecture for multilateral teleoperation under time delay
TÜMERDEM U.
TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
, cilt.27, sa.1, ss.120-138, 2019 (SCI-Expanded)
2017
20179. Multilateral teleoperation under asymmetric time delays: L-2 stability and robustness
Tümerdem U.
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
, cilt.14, 2017 (SCI-Expanded)
2010
201010. Delay-Independent L2 Stability of Four-Channel Bilateral Teleoperators with Damping Injection
Tümerdem U., Ohnishi K.
IEEJ Transaction on Industry Applications , cilt.130, sa.8, ss.953-964, 2010 (Hakemli Dergi)
2009
200911. Asymmetric Multilateral Teleoperation through Scaled Consensus Reaching on Graphs
Tümerdem U., Shimono T., Ohnishi K.
IEEJ Transactions on Industry Applications , cilt.129, sa.10, ss.972-980, 2009 (Scopus)
Hakemli Bilimsel Toplantılarda Yayımlanmış Bildiriler
2024
20241. Learning Contact for Haptic Feedback: Switching X-lateral Teleoperators
Yilmaz N., TÜMERDEM U.
2024 IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japonya, 13 - 17 Mayıs 2024, ss.1092-1098, (Tam Metin Bildiri)
2022
20222. Learning Based Estimation of 7 DOF Instrument and Grasping Forces on the Da Vinci Research Kit
Zhang J., Yılmaz N., Tümerdem U., Kazanzides P.
International Symposium on Medical Robotics, Georgia, Amerika Birleşik Devletleri, 13 - 15 Nisan 2022, ss.1-7, (Tam Metin Bildiri)
2021
20213. Robot Force Estimation with Learned Intraoperative Correction
Wu J. Y., Yilmaz N., TÜMERDEM U., Kazanzides P.
International Symposium on Medical Robotics (ISMR), Georgia, Amerika Birleşik Devletleri, 17 - 19 Kasım 2021, (Tam Metin Bildiri)
2020
20204. Neural Network based Inverse Dynamics Identification and External Force Estimation on the da Vinci Research Kit
Yilmaz N., Wu J. Y., Kazanzides P., TÜMERDEM U.
IEEE International Conference on Robotics and Automation (ICRA), ELECTR NETWORK, 31 Mayıs - 15 Haziran 2020, ss.1387-1393, (Tam Metin Bildiri)
2019
20195. 6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument
Yilmaz N., Bazman M., Alassi A., Gur B., TÜMERDEM U.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, Çin, 4 - 08 Kasım 2019, ss.2990-2997, (Tam Metin Bildiri)
2018
20186. External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist
Yilmaz N., Bazman M., TÜMERDEM U.
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, İspanya, 1 - 05 Ekim 2018, ss.4396-4403, (Tam Metin Bildiri)
2018
20187. Development and kinematic analysis of a redundant, modular and backdrivable laparoscopic surgery robot
Alassi A., Yilmaz N., Bazman M., GÜR M. B., TÜMERDEM U.
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, Yeni Zelanda, 9 - 12 Temmuz 2018, cilt.2018-July, ss.213-219, (Tam Metin Bildiri)
2018
20188. Development and Kinematic Analysis of a Redundant, Modular and Backdrivable Laparoscopic Surgery Robot
Alassi A., Yilmaz N., Bazman M., Gur B., TÜMERDEM U.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, Yeni Zelanda, 9 - 12 Temmuz 2018, ss.213-219, (Tam Metin Bildiri)
2018
20189. Kinematics and Tracking Control of a Four Axis Antenna for Satcom on the Move
Hancioglu O. K., Celik M., Tümerdem U.
8th International Power Electronics Conference (IPEC-Niigata ECCE Asia), Niigata, Japonya, 20 - 24 Mayıs 2018, ss.1680-1686, (Tam Metin Bildiri)
2018
201810. Kinematics and Tracking Control of a 4 Axis Antenna for Satcom on the Move
Hancıoğlu O. K., Çelik M., TÜMERDEM U.
International Power Electronics Conference, 20 - 24 Mayıs 2018, (Tam Metin Bildiri)
2018
201811. Dexterous and Back-Drivable Parallel Robotic Forceps Wrist for Robotic Surgery
Bazman M., Yilmaz N., Tümerdem U.
15th IEEE International Workshop on Advanced Motion Control (AMC), Tokyo, Japonya, 9 - 11 Mart 2018, ss.153-159, (Tam Metin Bildiri)
2015
201512. L-2 Stable Transparency Optimized Two Channel Teleoperation under Time Delay
Tümerdem U., Demir M.
41st Annual Conference of the IEEE-Industrial-Electronics-Society (IECON), Yokohama, Japonya, 9 - 12 Kasım 2015, ss.1313-1320, (Tam Metin Bildiri)
2010
201013. L2 stability analysis of four channel teleoperation and experiments under varying time delay
Tümerdem U., Ohnishi K.
IEEE AMC, Niigata, Japonya, 21 - 24 Mart 2010, ss.643-648, (Tam Metin Bildiri)
2010
201014. Delay independent L2 stable multilateral teleoperation with damping injection
Tümerdem U., Ohnishi K.
IEEE ICIT, Vina-Del-Mar, Şili, 14 - 17 Mart 2010, (Tam Metin Bildiri)
2009
200915. Robust Four Channel Teleoperation under Time Delay by Damping Injection
Tümerdem U., Ohnishi K.
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, VOLS 1 AND 2, Malaga, İspanya, 14 - 17 Nisan 2009, ss.357-362, (Tam Metin Bildiri)
2009
200916. Multi-robot Teleoperation under Dynamically Changing Network Topology
Tümerdem U., Ohnishi K.
2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3, Melbourne, Avustralya, 10 - 13 Şubat 2009, ss.780-785, (Tam Metin Bildiri)
2008
200817. Micro-Macro Multilateral Teleoperation through Scaled Information Flow
Tümerdem U., Ohnishi K., Shimono T.
IECON 2008: 34TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-5, PROCEEDINGS, Florida, Amerika Birleşik Devletleri, 10 - 13 Kasım 2008, ss.2816-2821, (Tam Metin Bildiri)
2008
200818. Haptic Consensus in Multilateral Teleoperation
Tümerdem U., Ohnishi K.
2008 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1-5, London, Birleşik Krallık, 30 Haziran - 02 Temmuz 2008, ss.1652-1657, (Tam Metin Bildiri)
2008
200819. Acceleration consensus for networked motion control of telerobots
Tümerdem U., Ohnishi K.
AMC ’xx08: 10TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS, Trento, İtalya, 26 - 28 Mart 2008, ss.318-323, (Tam Metin Bildiri)
2008
200820. Scaled Haptic Consensus and Multilateral Teleoperation
TÜMERDEM U., Shimono T., Ohnishi K.
Technical Meeting on Industrial Instrumentation and Control, Japonya, 01 Mart 2008, (Tam Metin Bildiri)
2007
200721. Haptic consensus in bilateral teleoperation
Tümerdem U., Ohnishi K.
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, Kumamoto, Japonya, 8 - 10 Mayıs 2007, ss.154-159, (Tam Metin Bildiri)
2005
200522. Serbest Şekilli Nesnelerin Scara Robotun Görme Tabanlı Denetimi İle Manipülasyonu
Tümerdem U.
TOK 2005, İstanbul, Türkiye, 2 - 05 Haziran 2005, ss.1-7, (Tam Metin Bildiri)
Desteklenen Projeler
2016 - 2018
2016 - 2018Minimal İnvazif Cerrahi için Kuvvet Geri Beslemeli Robotik Forseps Tasarımı ve Geliştirilmesi
TÜBİTAK Projesi , 1003 - Öncelikli Alanlar Ar-Ge Projeleri Destekleme Programı
Tümerdem U. (Yürütücü), GÜR M. B.
2013 - 2015
2013 - 2015Birden Fazla Operatörle Internet Üzerinden Minimal İnvazif Robotik Cerrahi için Haptik Kontrol Sistem
Yükseköğretim Kurumları Destekli Proje , BAP Araştırma Projesi
Tümerdem U. (Yürütücü)
Ödüller
Kongre ve Sempozyum Katılımı Faaliyetleri
18 Nisan 2014 - 18 Nisan 2018
18 Nisan 2014 - 18 Nisan 2018