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Selim TemizerComputer Science and Artificial Intelligence Laboratory Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology |
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I recently graduated from Massachusetts Institute of Technology with my Ph.D. degree in Computer Science and Engineering (February, 2011).
My dissertation, titled “Planning under Uncertainty for Dynamic Collision Avoidance”, can be reached
here.
I will gladly consider academic positions or offers in industry/consulting.
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Dynamic Collision AvoidanceI have been working on techniques to quickly compute safe trajectories by starting with possibly dangerous nominal trajectories and modifying them such that the new trajectories are clear from estimated intrusions, feasible, and the deviation from nominal trajectories are small. Advisors: Prof. Leslie Pack Kaelbling and Prof. Tomás Lozano-Pérez ![]() ![]() |
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POMDP Based Collision AvoidanceI worked on designing partially observable markov decision process (POMDP) based collision avoidance models for unmanned aerial vehicles (UAVs). Comparison of the models with an actual collision avoidance system currently used on piloted aircraft (TCAS II Version 7) showed that the designed logic leads to more frequent maneuvers, but it is about 20 times safer. I also implemented versatile visualization software to analyze encounters between aircraft. ![]() ![]() ![]() |
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Dynamical Navigation ModelI helped the design and improvement of a biologically-inspired navigation model by building extensive simulation software, analyzing the model, investigating various parameter settings and comparing the model to other navigation methods. ![]() ![]() ![]() ![]() |
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Navigation Using Optical FlowA significant portion of my master's thesis work consisted of using image sequences to compute optical flow, estimate time-to-contact with surfaces and extract depth information. I also studied how those computed features could be used for navigation. ![]() ![]() ![]() |
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Topological Map MakingHere is my recipe for extracting topological structure from a metric map of walls and possibly other obstacles: First, enlarge walls until doorways close up (i.e. take Minkowski sum of walls and an appropriately sized disk). A shrunk version of sought features (rooms, hallways, etc.) are now isolated and can be identified by, for example, flood filling. Then enlarge back each feature to restore original shape and size. Also during this second step, the overlapping areas between restored features will indicate doorways between them. To generate input for testing the technique, I also prepared software that simulates a robot with laser range finder and generates metric maps. ![]() ![]() |
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The Front-Point MethodI devised a very useful and practical technique I call The Front-Point Method that enables the treatment of an agent with certain non-holonomic motion constraints as being holonomic. I have used the method to easily navigate robots with synchro-drive and differential-drive systems on many projects and it might even be possible to apply the same principle to other driving mechanisms, too. ![]() |
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Parallel Volume RenderingFor my senior design project at Middle East Technical University, I came up with an adaptive volume rendering algorithm, in which, processing units exchange messages to balance the load of rendering images, and a master process dynamically keeps track of the weight of each pixel to further speed up rendering by trying to distribute the initial load between processing units in such a way that there will be minimal need for messages. ![]() |
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Advice-of-Charge GSM ServiceAdvice-of-Charge (AoC) is the call charge as calculated by the mobile station, which might vary from the actual invoice generated by the network operator. As part of my internship appointment at ASELSAN (the largest and leading military electronics corporation in Turkey), I designed the AoC service software module for ASELSAN 1920 GSM mobile phones using Specification and Description Language. ![]() |
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Physical Network Topology DesignMy brother and I are currently working on heuristic techniques for designing resilient physical network topologies. We have implemented a few methods to construct symmetric topologies and topologies that optimize arbitrary design criteria. ![]() |
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Shooting TrainerMy brother, my cousin, one of my friends from my military service days, and I designed a prototype system for shooting training. The hardware part of the system is in the form of a tripod that monitors the orientation of the attached gun/rifle during shooting and detects when the trainee pulls the trigger to take the shot. The software part is in charge of presenting stationary/mobile targets at various ranges, simulating shots in digital environment and evaluating the performance of the trainee based on accuracy and precision of the shots. ![]() ![]() |
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Facilitating Software Engineering TasksI designed an experimental meta-language that can be used to describe the semantic structure of computer programs by tagging source code chunks, where the tags can be embedded in source code as comments. I studied how this additional piece of embedded information can be extracted and used to facilitate common forward and reverse software engineering tasks such as instrumenting code, unit testing and generating activity diagrams, test scenarios and software requirement specifications. ![]() |
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Graphics System API and TestbedI worked briefly on an inspiring project (ran jointly by L-3 Display Systems and AYESAŞ in 2005) for developing a graphics and a windowing library that were planned to be used on F-35 Lightning II cockpit displays. Later on, I designed my own experimental graphics system API as a hobby. To test the feasibility of my design, I also implemented a fully functional testbed application that allows multiple client applications to connect to it (either locally or remotely via sockets), open up their own graphics windows and render images/animations using their separate graphics contexts, all managed by the testbed application. ![]() ![]() |
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