Publications /

# Okyay Kaynak

## List of All Publications

**a. Books (in Turkish):**

**3.** M.O. Efe and O. Kaynak, Artificial Neural Networks and their Applications, pp. 141, Bogaziçi University Press, No: 696, 2000.

**2.** O. Kaynak, Programmable Controllers, pp. 106, Istanbul Water and Sewage Treatment General Directorate, 1989.

**1.** O. Kaynak, Power Electronics : Devices, Circuits and Systems, pp. 227, Bogaziçi University Press, No:446, 1988.

**b. Edited books:**

**7.** T. Bilgiç, B. De Baets, and O. Kaynak (Eds.), Fuzzy Sets and Systems – IFSA 2003, vol. LNA I2715, Springer-Verlag Heidelberg, pp. 1188, 2003.

**6.** O. Kaynak, E. Alpaydin, E. Oja and L. Xu (Eds.), Artificial Neural Networks and Neural Information Processing – ICANN/ICONIP 2003, vol. LNCS 2714, Springer-Verlag Heidelberg, pp.735, 2003.

**5.** O. Kaynak, S. Tosunoglu and M. H. Ang (Eds), Recent Advances in Mechatronics, Springer-Verlag, Singapore, pp. 589, 1999.

**4.** O. Kaynak, L.A. Zadeh, B. Turksen and I.J. Rudas (Eds), Computational Intelligence: Soft Computing and Fuzzy-Neuro Integration with Applications, Springer-Verlag, NATO ASI Series, Series F, vol. 162, pp. 538, 1998.

**3.** O. Kaynak, M. Özkan, N. Bekiroglu and I. Tunay (Eds), Recent Advances in Mechatronics, v.1 and v.2, pp. 1172, Bogaziçi University Publications, No: 572, 1995.

**2.** O. Kaynak, G. Honderd and E. Grant (Eds), Intelligent Systems: Safety, Reliability and Maintainability Issues, Springer - Verlag (NATO ASI Series, Series F, vol. 114), pp. 340, 1993.

**1.** O. Kaynak et al (Eds), Proceedings of IEEE International Workshop on Intelligent Motion Control, 20-22 August 1990, v.1 and 2, IEEE Catalogue Number: 90CH20045, 1990.

**c. Journal Papers (appearing in publications that are indexed by SCI or SCIE or CompuMath):**

**69. ** E. Kayacan and O. Kaynak, “Single-step Ahead Prediction Based on the Principle of Concatenation Using Grey Predictors,” Expert Systems With Applications, v.38, no:8, pp. 9499-9505, August 2011.

**68.** A.V. Topalov, Y. Oniz, E. Kayacan ** and O. Kaynak, "Neuro-Fuzzy Control of Antilock Braking System Using Sliding Mode Incremental Learning Algorithm", Neurocomputing, v.74, no: 11, pp. 1883-1893, 2011.**

**67. ** R. H. Abiyev, O. Kaynak, T. Alshanableh and F. Mamedov, “A Type-2 Neuro-fuzzy System Based on Clustering and Gradient Techniques Applied to System Identification and Equalization,” Applied Soft Computing, v.11, pp. 1396-1406, 2011. (.pdf download)

**66. ** H. Gao, W. Sun and O. Kaynak, "Finite Frequency H_infinity Control for Vehicle Active Suspension Systems," to appear in IEEE Trans. on Control Systems Technology, 2010. doi: 10.1109/TCST.2010.2042296.

**65. ** R. H. Abiyev and O. Kaynak, “A Type-2 Fuzzy Neural System Structure for Identification and Control of Time-Varying Plants,” IEEE Trans. Indust. Electron., v.57, pp. 4147-4159, 2010..

**64. ** O. Cetin, S. Kurnaz, O. Kaynak and H. Temeltas, "Potential Field-based Navigation Task for Autonomous flight Control of Unmanned Aerial Vehicles," to appear in Int. J. Automation and Control, 2010, doi:10.1016/j.asoc.2010.04.011.

**63. ** Z.-H. Zhan, J. Zhang, Y. Li, O. Liu, S. K. Kwok W.K. Ip and O. Kaynak, " An Efficient Ant Colony System Based on Receding Horizon Control for the Aircraft Arrival Sequencing and Scheduling Problem," IEEE Trans. on Intelligent Transportation Systems, v.2, no: 22, pp. 399-412, 2010. (.pdf download) ** **

**62.**E. Kayacan, B. Ulutas and O. Kaynak, "Grey System Theory-based Models in Time Series Prediction",Expert Systems With Applications, , v.37, no:2, pp. 1784-1789, 2010. (.pdf download)

**61. ** S. Kurnaz, O. Cetin and O. Kaynak, "Adaptive Neuro-Fuzzy Inference System Based Autonomous Flight Control of Unmanned Air Vehicles," Expert Systems With Applications. , v.37, no:2, pp. 1224-1239, 2010. (.pdf download)

**60. ** Yu X. and O. Kaynak, "Sliding Mode Control with Soft Computing: A Survey," IEEE Trans. Indust. Electronics, v.56, no:9, pp. 3275-3285, 2009. (.pdf download)

**59. ** O. Kaynak, A. Bartoszewicz and V.I. Utkin, "Guest Editorial: Industrial Applications of Sliding Mode: Control Part II," IEEE Transactions on Industrial Electronics, v.56, no:9, pp. 3271-3274, 2009. (.pdf download)

**58. ** E. Kayacan, Y. Oniz and O. Kaynak, “A Grey System Modeling Approach For Sliding-Mode Control of Antilock Braking System,”IEEE Transactions on Industrial Electronics, v.56, no:8, pp. 3244-3252, August 2009. (.pdf download)

**57. ** E. Kayacan and, O. Kaynak, “Adaptive Grey PID Type Fuzzy Controller Design for a Nonlinear Liquid Level System”, Transactions of the Institute of Measurement and Control, v.31, no:1, pp. 33-49, February 2009. (.pdf download)

**56. ** Y. Oniz, E. Kayacan and O. Kaynak, “A Dynamic Method to Forecast the Wheel Slip for Antilock Braking System and Its Experimental Evaluation,” IEEE Trans. on Systems, Man and Cybernetics, Part B-Cybernetics, v.39, no:2, pp. 551-560, 2009. (.pdf download)

**55. ** S. Kurnaz, O. Cetin and O. Kaynak, “Fuzzy Logic Based Approach to Design Flight Control and Navigation Tasks for Autonomous UAVs”, Journal of Intelligent and Robotic Systems, v.54, , pp. 229-244, 2009. (.pdf download)

**54. ** A. Bartoszewicz, O. Kaynak and V.I. Utkin, “Guest Editorial: Industrial Applications of Sliding Mode Control – Part I,” IEEE Trans. Indust. Electron, v.55, no:11, pp. 3806-3808, 2008. (.pdf download)

**53. ** B. M. Wilamowski, N. J. Cotton, O. Kaynak and G. Dundar, “Computing Gradient Vector and Jacobian Matrix in Arbitrarily Connected Neural Networks,” IEEE Trans. Indust. Electron., v.55, no:10, pp. 3784-3790, 2008. (.pdf download)

**52. ** R.H. Abiyev and O. Kaynak, “Fuzzy Wavelet Neural Networks for Identification and Control of Dynamic Plants, a Novel Structure and a Comparative Study,” IEEE Trans. Indust. Electron., v.55, no:8, pp. 3133-3140, 2008. (.pdf download)

**51. ** O. Kaynak, R. Braun and I. Kennedy, “Guest Editorial: Plagiarism,” IEEE Trans. On Education, v.51, pp. 149-151, 2008. (.pdf download)

**50.** A. V. Topalov, O. Kaynak and G. Aydin, “Neuro-Adaptive Sliding-Mode Tracking Control of Robot Manipulators,” Int. J. Adapt. Control Signal Processing, v. 21, pp. 674–691, 2007. (.pdf download)

**49. ** A.V. Topalov, G.L. Cascella, V. Giordano, F. Cupertino, and O. Kaynak, “Sliding Mode Neuro-Adaptive Control of Electrical Drives ,” IEEE Trans. Indust. Electron, v.54, no:1, pp. 671-679, 2007. (.pdf download)

**48. ** O. Kaynak, "The Exhilarating Journey from Industrial Electronics to Industrial Informatics," IEEE Trans. Indust. Informatics, v.1, pp. 73-73, 2005. (.pdf download)

**47.** Y. Li, S. Qiang, X. Zuhang and O. Kaynak, “Robust and Adaptive Backstepping Control for Nonlinear Systems Using RBF Neural Networks,” IEEE Trans. on Neural Networks, v.15, no:3, pp. 693-701, 2004. (.pdf download)

**46.** A. Topalov and O. Kaynak, “Neural Network Modeling and Control of Cement Mills Using a Variable Structure Systems Theory Based On-Line Learning Mechanism,” Journal of Process Control, v.14, pp.581-589, 2004. (.pdf download)

**45.** M.O. Efe, C. Ünsal, O. Kaynak and X. Yu, “ Variable Structure Control of a Class of Uncertain Systems,” Automatica, v.40, pp. 59-64, 2004. (.pdf download)

**44.** M.O. Efe, O. Kaynak and B. M. Wilamowski and X. Yu, " A robust on-line learning algorithm for intelligent control systems," Int. J. Adaptive Control and Signal Processing" v.17, no:6, pp. 489-500, 2003. (.pdf download)

**43.** I. Batyrshin, O. Kaynak and I. Rudas, "Fuzzy Modelling Based on Generalized Conjunction Operations," IEEE Trans. on Fuzzy Systems, v.10, no:5, pp. 678-683, 2002. (.pdf download)

**42.** M.O. Efe, O. Kaynak and B. M. Wilamowski, "A Robust Identification Technique for Time-Varying ARMA Processes Based on Variable Structure Systems Theory," Mathematical and Computer Modelling of Dynamical Systems, v.8, no:2, pp. 185-198, 2002. (.pdf download)

**41.** X. Yu, M.O. Efe and O. Kaynak, " A General Back-Propagation Algorithm for Feedforward Neural Network Learning," IEEE Trans. on Neural Networks, v.13, no:1, pp. 251-254, 2002. (.pdf download)

**40.** K. Erbatur and O. Kaynak, "Use of Adaptive Fuzzy Systems in Parameter Tuning of Sliding Mode Controllers," IEEE/ASME Trans. on Mechatronics, v.6, no:4, pp. 474-482, 2001. (.pdf download)

**39.** A. Topalov and O. Kaynak, "On-Line Learning in Adaptive Neurocontrol Schemes with a Sliding Mode Algorithm," IEEE Trans. on Systems, Man and Cybernetics, Part B, v.31, no:3, pp. 445-450, 2001. (.pdf download)

**38.** M.O. Efe and O. Kaynak, "A Novel Optimization Procedure for Training of Fuzzy Inference Systems by Combining Variable Structure Systems Technique and Levenberg-Marquardt Algorithm," Fuzzy Sets and Systems, v.122, no.1, pp 153-165, 2001. (.pdf download)

**37.** M.O. Efe, A. M. Fiskiran and O. Kaynak, "Derivation of a Parameter Stabilizing Training Criterion for Adaptive Neuro-Fuzzy Inference Systems in Motion Control," Int. J. of Systems Science, v.32, no:4, pp.513-521, 2001. (.pdf download)

**36.** B. Koku and O. Kaynak, "An Internet-assisted Experimental Environment Suitable for the Reinforcement of Undergraduate Teaching of Advanced Control Techniques," IEEE Trans. on Education, v.44, no:1, pp. 24-28, 2001. (.pdf download)

**35.** O. Kaynak, "Guest Editorial: Computationally Intelligent Methodologies and Sliding Mode Control," (Guest Editorial), IEEE Trans. Indust. Electron., v.48, no:1, pp. 2-3, 2001. (.pdf download)

**34.** O. Kaynak, K. Erbatur and M. Ertugrul, "The Fusion of Computationally Intelligent Methodologies and Sliding Mode Control – A Survey ," IEEE Trans. Indust. Electron., v.48, no:1, pp. 4-17, 2001. (.pdf download)

**33.** M.O. Efe, O. Kaynak and X. Yu, "Sliding Mode Control of a Three Degrees of Freedom Anthropoid Robot by Driving the Controller Parameters to an Equivalent Regime," ASME Journal of Dynamic Systems, Measurement and Control, v.122, no.4, pp.783-792, 2000. (.pdf download)

**32.** B.M. Wilamowski and O. Kaynak, "Oil Well Diagnosis by Sensing Terminal Characteristics of the Induction Motor," IEEE Trans. Indust. Electron., v.47, no:5, pp. 1100-1107, 2000. (.pdf download)

**31.** M.O. Efe and O. Kaynak, "On Stabilization of Gradient Based Training Strategies for Computationally Intelligent Systems," IEEE Transactions on Fuzzy Systems, v.8, no:5, pp. 564-575, 2000. (.pdf download)

**30.** M. Ertugrul, O. Kaynak and F. Kerestecioglu, "Gain Adaptation in Sliding Mode Control of Robotic Manipulators," Int. Journal of System Science, v.31, no.9, pp.1099-1106, 2000. (.pdf download)

**29.** M.O. Efe and O. Kaynak, "Stabilizing and Robustifying the Learning Mechanism of Artificial Neural Networks in Control Engineering Applications," Int. J. of Intelligent Systems, v.15, no.5, pp.365-388, 2000. (.pdf download)

**28.** M.O. Efe, O. Kaynak and B. M. Wilamowski, "Stable Training of Computationally Intelligent Systems By Using Variable Structure Systems Technique," IEEE Trans. Indust. Electron., v.47, no:2, pp. 487-496, 2000. (.pdf download)

**27.** M.O. Efe and O. Kaynak, "A Comparative Study of Soft Computing Methodologies in Identification Of Robotic Manipulators," Robotics and Autonomous Systems, v.30, no.3, 221-230, 2000. (.pdf download)

**26.** M. Ertugrul and O. Kaynak, "Neuro Sliding Mode Control of Robotic Manipulators," Mechatronics, v.10, no.1-2, pp. 239-263, 2000. (.pdf download)

**25.** J.K. Tar, I.J. Rudas, J.F. Bito and M. O. Kaynak, "A New Utilization of the Hamiltonian Formalism in the Adaptive Control of Mechanical Systems Under External Perturbation," Intelligent Automation And Soft Computing, v.5, pp. 303-312, 1999.

**24.** B.M. Wilamowski, R.C. Jaeger and O. Kaynak, "Neuro-Fuzzy Architecture for CMOS Implementation," IEEE Trans. Indust. Electron. v.46, no:6, pp. 1132-1136, 1999.

**23.** I. Batyrshin and O. Kaynak, "Parametric Classes of Generalized Conjunction and Disjunction Operations for Fuzzy Modeling," IEEE Trans. on Fuzzy Systems, v.7, no:5, pp. 586-596, 1999.

**22.** K. Erbatur, O. Kaynak and A. Sabanovic, "A Study on Robustness Property of Sliding Mode Controllers: A Novel Design and Experimental Investigations", IEEE Trans. Indust. Electron. v.46, no:5, pp. 1012-1018, 1999.

**21.** M.O. Efe, E. Abadoglu and O. Kaynak, "A Novel Analysis and Design of a Neural Network Assisted Nonlinear Controller for a Bioreactor," Int. Journal of Robust and Nonlinear Control, v.9, pp. 799-815, 1999.

**20.** M.O. Efe and O. Kaynak, "A Comparative Study of Neural Network Structures in Identification of Nonlinear Systems," Mechatronics, v.9, pp. 287-300, 1999.

**19.** I.J. Rudas and M. O. Kaynak, "Minimum and Maximum Fuzziness Generalized Operators," Fuzzy Sets and Systems, v. 98, no:1, pp.83-94, 1998.

**18.** I. J. Rudas and O. Kaynak, "Entropy Based Operations on Fuzzy Sets," IEEE Trans. on Fuzzy Systems, v. 6, pp. 33-40, 1998.

**17.** O. Kaynak, "Recent Advances in Mechatronics," (Guest Editorial), Robotics and Autonomous Systems, v.19, no:2, pp. 113-116, Dec., 1996.

**16.** K. Erbatur, O. Kaynak, A. Sabanovic and I. Rudas, "Fuzzy Adaptive Sliding Mode Control of a Direct Drive Robot," Robotics and Autonomous Systems, v.19, no:2, pp. 215-227, Dec. 1996.

**15.** I. Tunay and O. Kaynak, "Provident Control of an Electrohydraulic Servo with Experimental Results," Mechatronics, vol. 6, no: 3, pp. 249-260, 1996.

**14.** O. Kaynak, "The Age of Mechatronics," (Guest Editorial), IEEE Trans. Indust. Electr., v.43, no:1, pp. 2-3, 1996.

**13.** I. Tunay and O. Kaynak, "A New Variable Structure Controller for Affine Nonlinear Systems with Non-matching Uncertainties," Int. Journal of Control, v. 62, no: 4, pp. 917-939, 1995.

**12.** O. Kaynak and I. Rudas, "Soft Computing Methodologies and Their Fusion in Mechatronic Products," IEE Computing and Control Engineering Journal, v.6, no:2, pp.68-72, 1995.

**11.** O. Kaynak, "Viewpoint: Mechatronics Becoming the State of Art," IEEE Spectrum, v. 32, no: 1, pp.86, 1995.

**10.** O. Kaynak, "Multi-step Ahead Prediction Based on Principle of Concatenation," Proc. Inst. Mech. Engrs, Part I: Journal of Systems and Control Engineering, v.207, pp. 57-61, 1993.

**9.** O. Kaynak and A. Denker, " Discrete-Time Sliding Mode Control in the Presence of System Uncertainty," Int. Journal of Control, v. 57, no.5, pp.1177-1189, 1993.

**8.** O. Kaynak and S. Z. Sarptürk, "An Adaptive Control Algorithm for Manipulators Based on Sliding Mode Control Concept," International Journal of Robotics and Automation, v.3, pp.105-114, 1988.

**7.** O. Kaynak, P. Melançon and V. Rajagopalan, "Model Predictive Heuristic Control of a Position Servo System in Robotics Application," IEEE Trans. on Robotics and Automation, v.RA-3, pp. 481-485, 1987.

**6.** S. Z. Sarptürk, Y. Istefanopulos and O. Kaynak, "On the Stability of Discrete Time Sliding Mode Control Systems," IEEE Trans. Autom. Contr., vol. AC-32, pp. 930-932, 1987.

**5.** O. Kaynak and F. Harashima, "Disturbance Rejection by Means of a Sliding Mode," IEEE Trans. Indust. Electron., vol. IE-32, pp. 85-87, 1985.

**4.** O. Kaynak, F. Harashima and H. Hashimoto, "Variable Structure Systems Theory, as Applied to Sub-time Optimal Position Control with an Invariant Trajectory," Trans. IEE of Japan, Sec. E, vol.104, no.3/4, pp. 47-52, 1984.

**3.** O. Kaynak, "Comments on microprocessor-based design of a firing circuit for three-phase full-wave thyristor dual converter," IEEE Trans. Ind. Electron., vol. IE-31, pp. 201, 1984.

**2.** I. R. Smith, G. K. Creighton and O. Kaynak, "Theoretical and Experimental Study of an Asynchronised Synchronous Machine," IEEE Trans. Ind. Electron. Contr. Instrum., vol.IECI-22, no.4, pp. 501-506, 1975.

**1.** O. Kaynak, G. K. Greighton and I. R. Smith, "3-phase Sudden Short-Circuit Analysis of an Asychronised Synchronous Machine," Proc. IEE, vol.122, no.9, pp. 917-918, 1975.

**d. Journal Papers (appearing in publications that are NOT indexed by SCI or SCIE):**

**8.** B. M. Wilamowski, J. Binfet and M. O. Kaynak, "VLSI Implementation of Neural Networks", Int. Journal of Neural Systems, v.10, no.3, pp. 191-198, 2000.

**7.** A. Sabanovic, K. Jezernik, K. Erbatur and O. Kaynak, "Soft Computing techniques in Discrete-time Sliding Mode Control Systems," Automatika, Journal for Control, Measurement, Electronics, Computing and Communications, v. 38, no;1-2, pp. 7-14, 1997.

**6.** G. Ulusoy and O. Kaynak, "Technology Management: University-Industry-Government Collaboration," (Guest Editorial), Industry & Higher Education, v.10, no: 6, pp.329-331, Dec., 1996.

**5.** Sabanovic, K. Jezernik and O. Kaynak, "Chattering Free Sliding Modes in Robotic Manipulators Control," International Journal of Intelligent Mechatronics: Design and Production, v. 1, pp. 25-45, 1994.

**4.** Denker and O. Kaynak, "SLIMSOC: A Merger of Sliding Mode and Self Organizing Controllers with Application to Industrial Robots," Electrotechnical Review, vol.60 (2-3), pp.109-115, 1993.

**3.** O. Kaynak, I. Ozyalçin and T. Demir, "Microprocessor Controlled Detection and Drilling of PCB Holes Utilizing an X-Y Stage Scanner," Journal of Bogaziçi University, Vols. 10-11-12-13, pp. 181-186, 1982-85.

**2.** O. Kaynak and A. Abbaszadeh, "Microprocessor-Based Firing Delay Angle Controller," Journal of Bogaziçi University, Vols. 10-11-12-13, pp. 141-152, 1982-85.

**1.** O. Kaynak, "Variable structure systems with a sliding mode," Seminar Series of Institute of Industrial Science, University of Tokyo, vol.32, no.7, pp. 17-23, March 1982.

**e. Contributions to Edited Books:**

**20. ** S. Kurnaz, O. Kaynak and E. Konakoğlu, “Adaptive Neuro-fuzzy Inference System Based Autonomous Flight Control of Unmanned Air Vehicles,” in Advances in Neural Networks – ISNN 2007, D. Liu, S. Fei, Z.-G. Hou, H. Zhang and C. Sun (Eds.), vol. LNCS 4491, Springer-Verlag Heidelberg, 2007, pp. 14-21, 2007.

**19. ** Sefer Kurnaz, Emre Eroglu, Okyay Kaynak and Umit Malkoç, “A Frugal Fuzzy Logic Based Approach for Autonomous Flight Control of Unmanned Aerial Vehicles,” in MICAI 2005: Advances in Artificial Intelligence, A. Gelbuch, A. de Albornoz and H. Terashima-Martin (Eds.), vol. LNAI 3789, Springer-Verlag Heidelberg, 2005, pp. 1155-1163, 2005.

**18. ** Andon V. Topalov and Okyay Kaynak, “Discrete-Time Quasi-Sliding Mode Feedback-Error-Learning Neurocontrol of a Class of Uncertain Systems,” in MICAI 2005: Advances in Artificial Intelligence, A. Gelbuch, A. de Albornoz and H. Terashima-Martin (Eds.), vol. LNAI 3789, Springer-Verlag Heidelberg, 2005, pp. 1124-1133, 2005.

**17. ** A. Topalov and O. Kaynak, “Neural Network Closed-Loop Control Using Sliding Mode Feedback-Error-Learning,” Springer-Verlag Heidelberg, LNCS 3316, pp. 269-274, 2004.

**16. ** Nikola G. Shakev, Andon V. Topalov and Okyay Kaynak, “Sliding Mode Algorithm for Online Learning in Analog Multilayer Feedforward Neural Networks,” in Artificial Neural Networks and Neural Information Processing – ICANN/ICONIP 2003, O. Kaynak, E. Alpaydin, E. Oja and L. Xu (Eds.), vol. LNCS 2714, Springer-Verlag Heidelberg, 2003, pp. 1064-1072, 2003,

**15. ** B.M. Wilamowski and O.Kaynak, “Soft Computing in Hardware Implementations,” in Neural Networks and Soft Computing, Proceedings of the Sixth International Conference on Neural Network and Soft Computing, Zakopane, Poland, June 11-15, 2002, L. Rutkowski and J. Kacprzyk (Eds.), Physica-Verlag, pp. 135-142, 2002,

**14. ** H. L. Akin, A. Topalov, and O. Kaynak, “Cerberus 2001 Team Description,” in RoboCup 2001: Robot Soccer World Cup V, Birk, Andreas; Coradeschi, Silvia; Tadokoro, Satoshi (Eds.), Lecture Notes in Artificial Intelligence, No: LNAI 2377, Springer, pp. 689-692, 2002.

**13.** U. Yildiran and O.Kaynak, “VSS Learning Based Intelligent Control of a Bioreactor System,” in Advances in Soft Computing – AFFS 2002, N. R. Pal and M. Sugeno (Eds.), Lecture Notes in Artificial Intelligence, No: LNAI 2275, Springer, pp. 281-287, 2002.

**12. ** M.O. Efe, O. Kaynak and X. Yu, “Variable Structure Systems Theory in Computational Intelligence,” in Variable Structure Systems: Towards the 21st Century, X. Yu and J.-X. Xu (Eds.), Lecture Notes in Control and Information Sciences, No: 274, Springer-Verlag, pp. 365-390, 2002.

**11. ** J. Rudas and O. Kaynak, “Techniques in Soft Computing and their Utilization in Mechatronic Products,” in Diagnostic, Reliability and Control System Techniques, Cornelius T. Leonidas (Ed.), Gordon and Breach Science Publishers, Series Part: Mechatronic Systems, Techniques, and Applications, Vol. 5, pp. 128-156, 2000.

**10. ** J.K. Tar, O. Kaynak, I.J. Rudas and J. F. Bito, “The Use of Partially Decoupled Uniform Structures and Procedures for the Robust and Adaptive Control of Mechanical Devices,” in Recent Advances in Mechatronics, O. Kaynak, S. Tosunoglu and M. Ang (Eds.), Springer-Verlag, Singapore, pp. 138-151, 1999.

**9. ** M. Ertugrul, K. Erbatur and O. Kaynak, “A Computational Intelligence Approach to Sliding Mode Control of Robotic Manipulators,” in Recent Advances in Mechatronics, O. Kaynak, S. Tosunoglu and M. Ang (Eds.), Springer-Verlag, Singapore, pp. 176-191, 1999.

**8. ** L. Horvath, I.J. Rudas and O. Kaynak, “Virtual Manufacturing Oriented Generic Manufacturing Process Model,” in Recent Advances in Mechatronics, O. Kaynak, S. Tosunoglu and M. Ang (Eds.), Springer-Verlag, Singapore, pp. 336-348, 1999.

**7. ** I. J. Rudas and O. Kaynak, “New Types of Generalized Operations,” in Computational Intelligence: Soft Computing and Fuzzy-Neuro Integration with Applications, O. Kaynak et al (Eds.), Springer-Verlag, NATO ASI Series, Series F, vol. 162, pp. 128-156, 1998.

**6. ** O. Kaynak, “Application Techniques: Combining Fuzzy Logic, Artificial Neural Networks, and Probabilistic Reasoning - Soft Computing,” in Industrial Electronics Handbook, Ed. J. David Irwin, IEEE Press and CRC Press, pp. 1360-1363, 1997.

**5. ** O. Kaynak and A. Sabanovic, “Diffusion of New Technologies through Appropriate Education and Training”, in Barriers to International Technology Transfer, Ed. John Kirkland, NATO ASI Series, Series 4: Science and Technology Policy-Vol. 11 Kluwer Academic Publishers, pp. 99-108, 1996. (also appeared in Diffusion of New Technologies in the Post-Communist World, Ed. Yakov. M. Rabkin, NATO ASI Series, Series 4: Science and Technology Policy - Vol. 13 Kluwer Academic Publishers, pp. 151-160, 1997.)

**4. ** O. Kaynak and A. Sabanovic, “Diffusion of New Technologies through Appropriate Education and Training,” in Science and Technology, Russia and the World, Eds. Z. A. Yakobashvili, S. V. Ryabikov and O. V. Rudenskiyi, Published by Minis. of Science and Tech. of Russian Federation, v.2, pp.111-118, 1994 (in Russian).

**3. ** A. Denker and O. Kaynak, “Application of VSC in Motion Control Systems” in Variable Structure and Lyapunov Control, Alan S.I. Zinober (Ed.), Springer-Verlag London Ltd., 1994, Chapter 17, pp.365-383, 1994.

**2. ** O. Kaynak, “A Robust Approach for the Control of Robotic Manipulators: Predictive Control” in Expert Systems and Robotics, ed. T. Jordanides and B. Torby, NATO ASI Series, pp. 515-532, Springer-Verlag, 1991.

**1. ** O. Kaynak, “Application of Variable Structure Systems Theory in Manipulator Control,” in Robotics and Artificial Intelligence, Eds. M. Brady et al, NATO ASI Series, Springer-Verlag, pp. 411-418, 1984.

** ** **f. Conference Papers (in English):**

**175.** O. Cigdem, E. Kayacan and O. Kaynak, "Experimental Study of an Interval Type-2 Fuzzy Neural Network Using Sliding-Mode Online Learning Algorithm", The 8th Asian Control Conference - ASCC 2011, Kaohsiung, Taiwan, pp. 1181-1186, 15-18 May 2011.

**174.** M.A. Khanesar, E. Kayacan, O. Kaynak and M. Teshnehlab, "An Online Training Algorithm Based on the Fusion of Sliding Mode Control Theory and Fuzzy Neural Networks with Triangular Membership Functions", The 8th Asian Control Conference - ASCC 2011, Kaohsiung, Taiwan, pp. 617-622, 15-18 May 2011.

**173.** O. Cigdem, E. Kayacan, M.A. Khanesar, O. Kaynak and M. Teshnehlab, "A Novel Training Method Based-on Variable Structure Systems Theory for Fuzzy Neural Networks", IEEE Symposium Series on Computational Intelligence - SSCI 2011, Paris, France, pp. 44-51, 11-15 April 2011.

**172.** M.A. Khanesar, E. Kayacan, M. Teshnehlab and O. Kaynak, "Levenberg Marquardt Algorithm for the Training of Type-2 Fuzzy Neuro Systems with a Novel Type-2 Fuzzy Membership Function", IEEE Symposium Series on Computational Intelligence - SSCI 2011, Paris, France, pp. 88-93, 11-15 April 2011.

**171.** E. Kayacan, O. Cigdem and O. Kaynak, "A Novel Training Method Based-on Variable Structure Systems Approach for Interval Type-2 Fuzzy Neural Networks", IEEE Symposium Series on Computational Intelligence - SSCI 2011, Paris, France, pp. 142-149, 11-15 April 2011.

**170.** Y. Oniz, E. Kayacan, A.C. Aras, O. Kaynak and R. Abiyev, "A servo system control with time-varying load using type-2 fuzzy neural system," Proc. of the 36th Annual Conference on IEEE Industrial Electronics Society - IECON 2010, Phoenix, AZ, USA. pp. 35-40, 2010.

**169.** M. Ahmadieh Khanesar, Mohammad Teshnehlab, Erdal Kayacan and Okyay Kaynak, "A Novel Type-2 Fuzzy Membership Function: Application to the Prediction of Noisy Data", 2010 IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, Taranto, Italy,pp. 128-133, 2010

**168. ** E. Kayacan, O. Kaynak, R. Abiyev, J. Torresen, M. Hovin and K. Glette, "Design of an Adaptive Interval Type-2 Fuzzy Logic Controller for the Position Control of a Servo System with an Intelligent Sensor," Proc. of the 2010 IEEE World Congress on Computational Intelligence,18-23 July 2010, Barcelona, Spain ,pp. 1125-1132,2010 . (.pdf download)

**167. ** A.C. Aras, E. Kayacan, Y. Oniz, O. Kaynak and R. Abiyev, "An Adaptive Neuro-Fuzzy Architecture for Intelligent Control of a Servo System and its Experimental Evaluation," Proc. of the IEEE ISIE 2010 International Symposium on Industrial Electronics, 4-7 July 2010,Bari, Italy, pp. 68-73, 4-7,2010.

**166. ** A. V. Topalov, E. Kayacan, Y. Oniz and O. Kaynak, "Neuro-Fuzzy Control of Antilock Braking System Using Variable-Structure-Systems-based Learning Algorithm," Proc. of the 2009 International Conference on Adaptive and Intelligent Systems, 24-26 Sept. 2009, Klagenfurt, Austria, pp. 166-171, 2009. (.pdf download)

**165. ** E. Kayacan, Y. Oniz, O. Kaynak and A. V. Topalov, "Adaptive Control of Antilock Braking System Using Grey Multilayer Feedforward Neural Networks," Proc. of the Seventh International Conference on Machine Learning and Applications (ICMLA'08), 11-13 Dec. 2008, San Diego, California, USA, pp. 356-361, 2008. (.pdf download)

**164.** V. Ozdemir and O. Kaynak, "Neuro-Adaptive PID Control of Antilock Braking System Based on Sliding Mode Backpropagation Algorithm," Proc. of the Joint 4th Int. Conf. on Soft Computing and Intelligent Systems and 9th Int. Symp. on Advanced Intelligent Systems, Sept. 17-21, 2008, Nagoya, Japan, pp. 2140-2145, 2008.

**163.** R. Abiyev and O. Kaynak, "Identification and Control of Dynamic Plants Using Fuzzy Wavelet Neural Networks," Proceedings of the 2008 IEEE Multi-conference on Systems and Control, Sept.3-5, 2008, San Antonio, Texas, USA, pp. 1295-1301, 2008. (.pdf download)

**162.** A. V. Topalov, O. Kaynak, N. G. Shakev and S. K. Hong, "Sliding Mode Algorithm for On-line Learning in Fuzzy Rule-based Neural Networks," Proceedings of the 17th World Congress, The International Federation of Automatic Control, July 14-16, 2008, Seoul, Korea, pp. 12793-12798, 2008. (.pdf download)

**161.** J. Hewlett, B. M. Wilamowski, and O. Kaynak "Accelerated Evolutionary Algorithm with Second-order Enhancement" 12th INES 2008 -International Conference on Intelligent Engineering Systems, Miami, Florida, USA, February 25-29, pp. 103-108, 2008. (.pdf download)

**160.** Y. Oniz, E. Kayacan and O. Kaynak, "Simulated and Experimental Study of Antilock Braking System Using Grey Sliding Mode Control," Proc. 2007 IEEE Int. Conf. on Systems, Man, and Cybernetics (SMC 2007), Montreal, Quebec, Canada, Oct. 7-10, 2007, pp. 90-95, 2007. (.pdf download)

**159.** C. Kavaklioglu and O. Kaynak, "A Type-2 Fuzzy Planner with Semi Qualitative World Model for Robocup Domain," Proc. 3rd Annual IEEE Conference on Automation Science and Engineering, Scottsdale, AZ, USA, Sept 22-25, 2007, pp. 795-799, 2007. (.pdf download)

**158.** Y. Oniz, E. Kayacan and O. Kaynak, "Grey Sliding Mode Controller Design for Antilock Braking System," 2007 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA07), Paper Code: DECT2007-34563, Sept.4-7, 2007, Las Vegas, Nevada, USA, pp. 1-8, 2007.

**157.** B. M. Wilamowski, N. Cotton, J. Hewlett, and O. Kaynak, "Neural Network Trainer with Second Order Learning Algorithms", 11th INES 2007 -International Conference on Intelligent Engineering Systems, June 29-July 1 2007, Budapest, Hungary, pp. 127-132, 2007. (.pdf download)

**156.** B. M. Wilamowski, N. J. Cotton, O. Kaynak, and G. Dundar, "Method of computing gradient vector and Jacobean matrix in arbitrarily connected neural networks" ISIE 2007- IEEE International Symposium on Industrial Electronics, 4-7 June 2007, Vigo, Spain, pp. 3298-3303, 2007. (.pdf download)

**155.** E. Kayacan and O. Kaynak, "An Adaptive Grey Fuzzy PID Controller with Variable Prediction Horizon," Joint 3rd Int. Conf. on Soft Computing and Intelligent Systems and 7th Int. Symp. On Advanced Intelligent Systems: SCIS & ISIS 2006, Sept. 20-24, 2006, Japan, pp. 760-765, 2006. (.pdf download)

**154.** E. Kayacan and O. Kaynak, "Grey Prediction Based Control of a Non-Linear Liquid Level System Using PID Type Fuzzy Controller," Proc. of IEEE 3rd International Conference on Mechatronics: ICM 2006, 3-5 July 2006, pp. 293-296, 2006. (.pdf download)

**153.** . S. M. Yesiloglu, H. Temeltas and O. Kaynak, "Dynamical Modeling of Two-Wheeled Cart: Cooperating Manipulator Approach," 2005 IEEE International Conference on Systems, Man and Cybernetics, Waikoloa, Hawaii October 10-12, 2005, pp. 2008-2012, 2005. (.pdf download)

**152.** S. M. Yesiloglu, H. Temeltas and O. Kaynak, "Balancing 3D Objects with Rolling Constraint by Redundant Manipulator," Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, California, USA, 24-28 July, 2005, pp. 1511-1516, 2005. (.pdf download)

**151.** A. Topalov and O. Kaynak, "Robust Neural Identification of Robotic Manipulators Using Discrete Time Adaptive Sliding Mode Learning," Proceedings of the 16th IFAC World Congress, July 4-8, 2005, Prague, pp. 336-341, 2005. (.pdf download)

**150.** G. L. Cascella, F. Cupertino, A. V. Topalov, O. Kaynak and V. Giordano, "Adaptive Control of Electric Drives Using Sliding-Mode Learning Neural Networks," Proc. of the IEEE International Symposium on Industrial Electronics: ISIE 2005, June 20-23, 2005, Dubrovnik, Crotia, pp. 125-130, 2005. (.pdf download)

**149.** V. Giordano, A. V. Topalov , O. Kaynak and B. Turchiano, "Sliding-mode approach for on-line neural identification of robotic manipulators, " The 5th Asian Control Conference, July 20-23 2004 - Melbourne, Australia, pp. 2070-2076, 2004. (.pdf download)

**148.** A. Topalov and O. Kaynak, "Neuro-adaptive Modeling and Control of a Cement Mill Using a Sliding Mode Learning Mechanism," Proc. of the IEEE International Symposium on Industrial Electronics: ISIE 2004, May 4-7, 2004, Ajaccio, France, pp. 225-230, 2004. (.pdf download)

**147.** A. Topalov and O. Kaynak, "Robust On-line Training of Multilayer Perceptrons via Direct Implementation of Variable Structure Systems Theory," Proc. of the 4th International Symposium on Advanced Intelligent Systems, Sept. 25-28, 2003, Jeju, Korea, pp.300-3003, 2003.

**146.** N. Dariah, J. Gownipalli, B. M. Wilamowski and O. Kaynak, "Multi Dimensional Second Order Defuzzification Algorithm (M-SODA),"The 28th Annual Conference of the IEEE Industrial Electronics Society: IECON02, Nov. 5 - 8, 2002, Sevilla, Spain, pp.3215-3220, 2002. (.pdf download)

**145.** M.O. Efe, O. Kaynak, B. M. Wilamowski, "An On-line and Robust Identification Scheme forTime-Varying ARMA Processes," The 28th Annual Conference of the IEEE Industrial Electronics Society: IECON02, Nov. 5 - 8, 2002, Sevilla, Spain, pp.1990-1994, 2002.

**144..** A. V. Topalov, O. Kaynak and N. G. Shakev, "Neural Network Identification, Predictive Modeling and Control with a Sliding Mode Learning Mechanism: an Application to the Robotic Manipulators," 2002 First International IEEE Symposium “Intelligent Systems”, IS’02, September 10-12, 2002, Varna, Bulgaria, pp.101-106, 2002. (.pdf download)

**143. .** U. Yildiran and O. Kaynak, "Neural Network Based Control of a Cement Mill by means of a VSS Based Training Algorithm," IEEE International Symposium on Industrial Electronics: ISIE 2002, July 12-17, 2002, L’Aquila, Italy, pp.326-331, 2002. (.pdf download)

**142..** A. Moshaiov and O. Kaynak, "Evaluating Groupwork in Tele-Collaboration – Application to Socio-Mechatronics," Proc. of the 3rd International Conference on Information Technology Based Higher Education and Training: ITHET 2002, July 4-6, 2002, Budapest, Hungary, pp. 23-28, 2002.

**141.** Kaynak, O., Jezernik, K., Szeghegyi, A., "Complexity Reduction of Rule Based Models: A Survey," Proceedings of the 2002 IEEE International Conference on Fuzzy Systems; FUZZ-IEEE'02, 12-17 May 2002, v. 2 , pp. 1216 - 1221, 2002. <a href="../Prof.%20Dr.%20Okyay%20Kaynak%20Publications/f%20Co