Eskisehir Osmangazi University Autonomous Systems & Reliability Laboratory
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Digital Twin & eXtended Reality Related Publications

  1. Hakan GENÇTÜRK, Uğur YAYAN, Artırılmış Gerçeklik Tabanlı Gezgin Robot Bakım Yazılımı Geliştirilmesi, In 2019 Innovations in Intelligent Systems and Applications Conference (ASYU) (pp. 1-5). IEEE. 2019. https://doi.org/10.1109/ASYU48272.2019.8946359
  2. Y.E. Esen, U. Yayan, K. Yayan, B. K. Çetincan, XR4HRC Project: Training and Evaluation Approaches for Human-Robot Collaboration with Extended Reality, International Conference on Educational Technology and Online Learning, 2024, Eskişehir, Türkiye, pp. 143
  3. S. Kahraman and U. Yayan, "Development and Simulation of a Robot Arm Functional Mockup Unit (FMU) for Digital Twins," 2025 33rd Signal Processing and Communications Applications Conference (SIU), Sile, Istanbul, Turkiye, 2025, pp. 1-4, doi: 10.1109/SIU66497.2025.11112169.
  4. Cem Süha Yılmaz, Serhat Kahraman, Metin Yılmaz, Hasan Serhan Yavuz, Uğur Yayan, FMU Tabanlı Kalıntı Ayrıştırma ve İkili LSTM Özkodlayıcı Birleşimi ile ˙İşbirlikçi Robotlarda Anomali Tespiti, 34. Sinyal İşleme ve İletişim Uygulamaları (SIU) Kurultayı, 7-10 :Temmuz 2026, İstanbul, pp.
  5. Luca Berardinelli, Vittoriano Muttillo, Hugo Bruneliere, Romina Eramo, Alessio Bucaioni, et al.. Barriers and Enablers for Traceability and Federation in Model-Based Digital Twin Engineering. Information and Software Technology, In press. ⟨hal-05664651⟩
  6. Yılmaz, M., Yılmaz, C. S., Kahraman, S., & Yayan, U. (2026). Real-Time Big Data Pipelines for Industrial Robot Digital Twins: An OMPL Benchmarking Framework. Machines, 14(6), 702. https://doi.org/10.3390/machines14060702
  7. U. Yayan, "A Federated Supply Chain Digital Twin Architecture: Signal-Based Ripple Effect Simulation Using Model-Based Systems Engineering," in IEEE Access, vol. 14, pp. 74289-74314, 2026, doi: 10.1109/ACCESS.2026.3691943
  8. S. Kahraman, C. S. Yilmaz, M. Yilmaz and U. Yayan, "FMU-Based Multi Criteria Trajectory Validation of Industrial Robots," in IEEE Access, vol. 14, pp. 67303-67326, 2026, doi: 10.1109/ACCESS.2026.3684299
  9. Yunus Emre ESEN, Berk Kaan ÇETİNCAN, Kübra YAYAN, Özgür BURNAK, Uğur YAYAN, XR4MCR: Multiplayer collaborative robotics maintenance training platform in extended reality, SoftwareX, Volume 31, 2025, 102348, ISSN 2352-7110, https://doi.org/10.1016/j.softx.2025.102348 .
  10. Y. E. Esen, B. Kaan Çetincan, K. Yayan, H. Güray Gürlek and U. Yayan, "XR-Driven Robotic System Training for Occupational Health, Safety, and Maintenance," in IEEE Access, vol. 13, pp. 61708-61727, 2025, doi: 10.1109/ACCESS.2025.3556699.
  11. Yayan, K., Esen, Y. E., & Yayan, U., (2024). A New Dimension of Learning: Exploring the Impact of XR4HRC on Training Efficacy.  ERCIM NEWS , no.137, 32-34.

Verification and Validation Related Publications

  1. Kanak, A., Ergun, S., Yazici A., Ozkan, M., Çokünlü, G., Yayan, U., Karaca, M., & Arslan, A. T. (2021). Verification and validation of an automated robot inspection cell for automotive body-in-white: a use case for the VALU3S ECSEL project. Open Research Europe, 1(115), 115. https://doi.org/10.12688/openreseurope.13627.1
  2. Erdoğmuş, A.K., Yayan, U., (2021). Endüstriyel Robot Hareket Planlama Algoritmaları Performans Karşılaştırması, Journal of Scientific Technology and Engineering Research. (2021) - 2(2) : 31-45. DOI: 10.53525/jster.979689
  3. Thomas Bauer, Joseba A Agirre, David Furcho, Wolfgang Herzner, Bob Hruska, Mustafa Karaca, David Pereira, Jose Proenca, Rupert Schlick, Robert Sicher, Ales Smrcka, Ugur Yayan, Behrooz Sangchoolie (2021). Cross-domain Modelling of Verification and Validation Workflows in the Large Scale European Research Project VALU3S. International Conference on Embedded Computer Systems: Architectures, Modeling and Simulation (SAMOS XXI) .pdf
  4. Jose Luis de la Vara, Thomas Bauer, Bernhard Fischer, Mustafa Karaca, Henrique Madeira, Martin Matschnig, Silvia Mazzini, Giann Spilere Nandi, Fabio Patrone, David Pereira, José Proença, Rupert Schlick, Stefano Tonetta, Ugur Yayan, Behrooz Sangchoolie (2021). A Proposal for the Classification of Methods for Verification and Validation of Safety, Cybersecurity, and Privacy of Automated Systems. 14th International Conference on the Quality of Information and Communications Technology (QUATIC 2021)  .pdf
  5. A. K. Erdoğmuş, M. Karaca, U. Yayan, G. Çokünlü, “Araç Şaselerinin Kalite Kontrolü için Simülasyon Tabanlı Otonom Endüstriyel Robot Test Sistemi Geliştirilmesi” Tok2021, 2-5 Eylül .pdf
  6. J. A. Agirre, Yayan, U., et al., "Multidimensional Framework for Characterizing Verification and Validation of Automated Systems," 2022 18th European Dependable Computing Conference (EDCC), 2022, pp. 41-48, doi: 10.1109/EDCC57035.2022.00018. .pdf
  7. Smrčka A, Sangchoolie B, Mingozzi E , YAYAN U, et al. Towards an extensive set of criteria for safety and cyber-security evaluation of cyber-physical systems,  Open Res Europe 2023, 3:219, https://doi.org/10.12688/openreseurope.16234.1

  8. Yayan, U. & Erdoğmuş, A. K. (2022). DEVELOPMENT OF A FAULT INJECTION TOOL & DATASET FOR VERIFICATION OF CAMERA BASED PERCEPTION IN ROBOTIC SYSTEMS . Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 30 (3) , 328-339 . DOI: 10.31796/ogummf.1054761, .pdf

  9. A. K. Erdoğmuş, M. Karaca, U. Yayan, (2021), Manipulation of Camera Sensor Data via Fault Injection for Anomaly Detection Studies in Verification and Validation Activities For AI, https://arxiv.org/abs/2108.13803
  10. Uğur YAYAN ve Cem BAĞLUM (2023), Tailored Mutation-based Software Fault Injection Tool (IM-FIT), SoftwareX, ISSN 2352-7110, https://doi.org/10.1016/j.softx.2023.101463 .
  11. S. Aşik and U. Yayan, "Generating Python Mutants From Bug Fixes Using Neural Machine Translation," in IEEE Access, vol. 11, pp. 85678-85693, 2023, https://doi.org/10.1109/ACCESS.2023.3302695
  12. U. Yayan, "ROSMutation: Mutation Based Automated Testing for ROS Compatible Robotic Software," Advances in Electrical and Computer Engineering, vol.23, no.3, pp.47-56, 2023, https://doi.org/10.4316/AECE.2023.03006 
  13. Smrčka A, Sangchoolie B, Mingozzi E , YAYAN U, et al. Towards an extensive set of criteria for safety and cyber-security evaluation of cyber-physical systems,  Open Res Europe 2023, 3:219, https://doi.org/10.12688/openreseurope.16234.1
  14. Erdoğmuş, A. K., & Yayan, U. (2024). KAMERA HATA ENJEKSİYON ARACI İLE KAMERA TABANLI ROBOTİK DENETLEME SİSTEMİNİN DOĞRULANMASI VE ONAYLANMASI. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, 32(1), 1159-1168. https://doi.org/10.31796/ogummf.1348531
  15. A. H. Ayubi, F. Taskin, O. Caglar, S. Asik, C. Baglum and U. Yayan, "Evaluation of Deep Neural Network Quality by CleanAI Coverage Metrics Library," 2023 International Conference on Innovations in Intelligent Systems and Applications (INISTA), Hammamet, Tunisia, 2023, pp. 1-6, doi: 10.1109/INISTA59065.2023.10310324.
  16. A. K. Erdoğmuş, M. Karaca, U. Yayan, G. Çokünlü, “Araç Şaselerinin Kalite Kontrolü için Simülasyon Tabanlı Otonom Endüstriyel Robot Test Sistemi Geliştirilmesi” TOK'2021 Otomatik Kontrol Ulusal Toplantısı, 2-5 Eylül
  17. Uğur Yayan ve Cem Bağlum, Tailored Mutation-based Software Fault Injection Tool (IM-FIT) for Industrial Robotic Systems, TOK'2021 Otomatik Kontrol Ulusal Toplantısı, 15-18 Eylül 2022.
  18. O. Caglar, F. Taskin, C. Baglum, S. Asik and U. Yayan, "Development of Cloud and Artificial Intelligence based Software Testing Platform (ChArIoT)," 2023 Innovations in Intelligent Systems and Applications Conference (ASYU), Sivas, Turkiye, 2023, pp. 1-6, doi: 10.1109/ASYU58738.2023.10296551.
  19. C. Baglum, A. K. Erdoğmuş and U. Yayan, "Verification Toolchain of Industrial Robot Inspection Cell for Quality Control of Automotive Body-in-white," 2023 Innovations in Intelligent Systems and Applications Conference (ASYU), Sivas, Turkiye, 2023, pp. 1-6, doi: 10.1109/ASYU58738.2023.10296576.
  20. A. H. Ayubi, F. Taskin, O. Caglar, S. Asik, C. Baglum and U. Yayan, "Evaluation of Deep Neural Network Quality by CleanAI Coverage Metrics Library," 2023 International Conference on Innovations in Intelligent Systems and Applications (INISTA), Hammamet, Tunisia, 2023, pp. 1-6, doi: 10.1109/INISTA59065.2023.10310324.
  21. G. Cetiner, C. Baglum, U. Yayan and A. Yazici, "White Box Testing Module for Evaluation of Transformers-Based DNNs," 2024 Innovations in Intelligent Systems and Applications Conference (ASYU), Ankara, Turkiye, 2024, pp. 1-6, doi: 10.1109/ASYU62119.2024.10757012.
  22. M. Konuk, C. Baglum and U. Yayan, "Evaluation of Large Language Models for Unit Test Generation," 2024 Innovations in Intelligent Systems and Applications Conference (ASYU), Ankara, Turkiye, 2024, pp. 1-6, doi: 10.1109/ASYU62119.2024.10756954.
  23. C. Bağlum, U. Yayan, A. Yazıcı, Automated Generation and Evaluation of Electrical Vehicles Software Test Scenarios Using Large Language Models, TOK'2024 Otomatik Kontrol Ulusal Toplantısı, Konya, Türkiye.
  24. C. Bağlum and U. Yayan, "STS: AI-Driven Smart Test Scenario Generation Tool," 2025 33rd Signal Processing and Communications Applications Conference (SIU), Sile, Istanbul, Turkiye, 2025, pp. 1-4, doi: 10.1109/SIU66497.2025.11112297.
  25. O. Çağlar, U. Yayan, A. Yazıcı, Structured Pruning Performance Evaluation in Deep Learning: An Experimental Study with CleanAI+, 17. Ulusal Yazılım Mühendisliği Sempozyumu (UYMS2026), 14-16 Mayıs 2026, Muğla, pp. 5-15
  26. C. Baglum, U. Yayan, A. Yazıcı, Evaluating LLM Performance in Automated Test Reporting and Test Closure: A Controlled Multi-Model Comparative Study, 17. Ulusal Yazılım Mühendisliği Sempozyumu (UYMS2026), 14-16 Mayıs 2026, Muğla, pp. 35-46
  27. Cem Bağlum ve Ugur Yayan “Evaluation of robotic system integrity: unleashing the potential of mutation-based testing for safety-critical applications”, Pamukkale Univ Muh Bilim Dergi, PAJES-27895 | DOI: 10.65206/pajes.27895 (http://pajes.pau.edu.tr/jvi.aspx?un=PAJES-27895&volume= )
  28. Caglar O, Baglum C, Yayan U. CleanAI: Deep neural network model quality evaluation tool. SoftwareX. 2025 Feb 1;29:102015.
  29. G. Çetiner, U. Yayan and A. Yazici, "Mutation-Based White Box Testing of Deep Neural Networks," in IEEE Access, vol. 12, pp. 160156-160174, 2024, doi: 10.1109/ACCESS.2024.3482114.

Reliability Engineering Related Publications

  1. U. Yayan, A. Yazıcı, (2019) “Reliability Based Multı-Robot Route Planning” International Journal of Robotics and Automation, 34(3), DOI: 10.2316/J.2019.206-5291 
  2. U. Yayan, A. Yazıcı, İ. Sarıçiçek, (2022), Prognostics-aware multi-robot route planning to extend the lifetime, Kuwait Journal of Science, DOI: https://doi.org/10.48129/kjs.13237, .pdf
  3. H. Gencturk, E. Erdogan, M. Karaca, U. Yayan, (2020), Prognostic and Health Management (PHM) tool for Robot Operating System (ROS), https://arxiv.org/abs/2011.09222
  4. U. Yayan, M. O. Tas, D. Özüpek, A. Yazıcı, (2017), “Comparison of Reliability Based and Distance Based Multi Robot Task Allocation” 3rd International Conference on Engineering and Natural Sciences (ICENS 2017), 3-7 May 2017, Budapest, Hungary.
  5. A. T. Arslan ve U. Yayan, (2020) “Convolutional Auto-Encoder based Degradation point forecasting for Bearing Data Set “Artificial Intelligence and Applied Mathematics in Engineering Problems, Lecture Notes on Data Engineering and Communications Technologies (LNDECT) 43, Proceedings of the International Conference on Artificial Intelligence and Applied Mathematics in Engineering (ICAIAME 2019), pp. 817–829, 2020. Antalya, Turkey, https://doi.org/10.1007/978-3-030-36178-5_71
  6. U. Yayan, M. O. Tas, H. S. Yavuz, A. Yazıcı, (2017), ” Reliability Based Task Allocation Analysis for Multi-Robot Systems by Using Fuzzy Logic “Akıllı Sistemlerde Yenilikler ve Uygulamaları 2017 Konferansı (ASYU-2017) “5-7 Ekim 2017, Alanya/Antalya
  7. U. Yayan, A. Yazıcı, (2018) “Çoklu Robot Rota Planlamada Güvenilirliğin Etkisi: Bir Durum Çalışması “Türkiye Robotbilim Konferansı 2018, 12-14 Nisan 2018, İstanbul
  8. M. Helvacı, M. Ağdere, Ş. Akdeniz, B. Yaldıran, F. Kolsuz, U. Yayan, R. Edizkan, A. Yazıcı, (2018) “Gezgin Robotlara Yük Taşıma Görevinde Batarya Akımı Değişimine Göre Durum Farkındalığı Kazandırılması” Türkiye Robotbilim Konferansı 2018, 12-14 Nisan 2018, İstanbul

Last Updated At: 7/8/2026

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