Eskisehir Osmangazi University Autonomous Systems & Reliability Laboratory
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Publications

ASRLab publishes research on autonomous systems, verification and validation, software testing, digital twins, artificial intelligence, robotics, and dependability. Selected publications are presented below by research area, with the most recent work listed first.

✦ Digital Twins & Extended Reality

2026

  • Barriers and Enablers for Traceability and Federation in Model-Based Digital Twin Engineering
    L. Berardinelli, V. Muttillo, H. Bruneliere, R. Eramo, A. Bucaioni, et al.
    Information and Software Technology, 2026.

  • Real-Time Big Data Pipelines for Industrial Robot Digital Twins: An OMPL Benchmarking Framework
    M. Yılmaz, C. S. Yılmaz, S. Kahraman, U. Yayan
    Machines, 14(6), 702, 2026.
    DOI: https://doi.org/10.3390/machines14060702

  • A Federated Supply Chain Digital Twin Architecture: Signal-Based Ripple Effect Simulation Using Model-Based Systems Engineering
    U. Yayan
    IEEE Access, Vol. 14, pp. 74289–74314, 2026.
    DOI: https://doi.org/10.1109/ACCESS.2026.3691943

  • FMU-Based Multi Criteria Trajectory Validation of Industrial Robots
    S. Kahraman, C. S. Yılmaz, M. Yılmaz, U. Yayan
    IEEE Access, Vol. 14, pp. 67303–67326, 2026.
    DOI: https://doi.org/10.1109/ACCESS.2026.3684299

  • FMU Tabanlı Kalıntı Ayrıştırma ve İkili LSTM Özkodlayıcı Birleşimi ile İşbirlikçi Robotlarda Anomali Tespiti
    C. S. Yılmaz, S. Kahraman, M. Yılmaz, H. S. Yavuz, U. Yayan
    34th Signal Processing and Communications Applications Conference (SIU), İstanbul, 2026.

2025

  • Development and Simulation of a Robot Arm Functional Mockup Unit (FMU) for Digital Twins
    S. Kahraman, U. Yayan
    33rd Signal Processing and Communications Applications Conference (SIU), 2025.
    DOI: https://doi.org/10.1109/SIU66497.2025.11112169

  • XR4MCR: Multiplayer Collaborative Robotics Maintenance Training Platform in Extended Reality
    Y. E. Esen, B. K. Çetincan, K. Yayan, Ö. Burnak, U. Yayan
    SoftwareX, Vol. 31, 102348, 2025.
    DOI: https://doi.org/10.1016/j.softx.2025.102348

  • XR-Driven Robotic System Training for Occupational Health, Safety, and Maintenance
    Y. E. Esen, B. K. Çetincan, K. Yayan, H. G. Gürlek, U. Yayan
    IEEE Access, Vol. 13, pp. 61708–61727, 2025.
    DOI: https://doi.org/10.1109/ACCESS.2025.3556699

2024

  • XR4HRC Project: Training and Evaluation Approaches for Human-Robot Collaboration with Extended Reality
    Y. E. Esen, U. Yayan, K. Yayan, B. K. Çetincan
    International Conference on Educational Technology and Online Learning, Eskişehir, 2024.

  • A New Dimension of Learning: Exploring the Impact of XR4HRC on Training Efficacy
    K. Yayan, Y. E. Esen, U. Yayan
    ERCIM News, No. 137, pp. 32–34, 2024.

2019

  • Artırılmış Gerçeklik Tabanlı Gezgin Robot Bakım Yazılımı Geliştirilmesi
    H. Gençtürk, U. Yayan
    Innovations in Intelligent Systems and Applications Conference (ASYU), IEEE, 2019.
    DOI: https://doi.org/10.1109/ASYU48272.2019.8946359

✦ Verification, Validation & Software Testing

2026

  • Structured Pruning Performance Evaluation in Deep Learning: An Experimental Study with CleanAI+
    O. Çağlar, U. Yayan, A. Yazıcı
    17th National Software Engineering Symposium (UYMS 2026), Muğla, 2026.

  • Evaluating LLM Performance in Automated Test Reporting and Test Closure: A Controlled Multi-Model Comparative Study
    C. Bağlum, U. Yayan, A. Yazıcı
    17th National Software Engineering Symposium (UYMS 2026), Muğla, 2026.

  • Evaluation of Robotic System Integrity: Unleashing the Potential of Mutation-Based Testing for Safety-Critical Applications
    C. Bağlum, U. Yayan
    Pamukkale University Journal of Engineering Sciences, 2026.
    DOI: https://doi.org/10.65206/pajes.27895

2025

  • STS: AI-Driven Smart Test Scenario Generation Tool
    C. Bağlum, U. Yayan
    33rd Signal Processing and Communications Applications Conference (SIU), 2025.
    DOI: https://doi.org/10.1109/SIU66497.2025.11112297

  • CleanAI: Deep Neural Network Model Quality Evaluation Tool
    O. Çağlar, C. Bağlum, U. Yayan
    SoftwareX, Vol. 29, 102015, 2025.

2024

  • Mutation-Based White Box Testing of Deep Neural Networks
    G. Çetiner, U. Yayan, A. Yazıcı
    IEEE Access, Vol. 12, pp. 160156–160174, 2024.
    DOI: https://doi.org/10.1109/ACCESS.2024.3482114

  • White Box Testing Module for Evaluation of Transformers-Based DNNs
    G. Çetiner, C. Bağlum, U. Yayan, A. Yazıcı
    Innovations in Intelligent Systems and Applications Conference (ASYU), Ankara, 2024.
    DOI: https://doi.org/10.1109/ASYU62119.2024.10757012

  • Evaluation of Large Language Models for Unit Test Generation
    M. Konuk, C. Bağlum, U. Yayan
    Innovations in Intelligent Systems and Applications Conference (ASYU), Ankara, 2024.
    DOI: https://doi.org/10.1109/ASYU62119.2024.10756954

  • Automated Generation and Evaluation of Electrical Vehicles Software Test Scenarios Using Large Language Models
    C. Bağlum, U. Yayan, A. Yazıcı
    TOK 2024 – National Automatic Control Conference, Konya, 2024.

  • Kamera Hata Enjeksiyon Aracı ile Kamera Tabanlı Robotik Denetleme Sisteminin Doğrulanması ve Onaylanması
    A. K. Erdoğmuş, U. Yayan
    Eskişehir Osmangazi University Journal of Engineering and Architecture, 32(1), pp. 1159–1168, 2024.
    DOI: https://doi.org/10.31796/ogummf.1348531

2023

  • Tailored Mutation-Based Software Fault Injection Tool (IM-FIT)
    U. Yayan, C. Bağlum
    SoftwareX, 2023.
    DOI: https://doi.org/10.1016/j.softx.2023.101463

  • Generating Python Mutants From Bug Fixes Using Neural Machine Translation
    S. Aşik, U. Yayan
    IEEE Access, Vol. 11, pp. 85678–85693, 2023.
    DOI: https://doi.org/10.1109/ACCESS.2023.3302695

  • ROSMutation: Mutation Based Automated Testing for ROS Compatible Robotic Software
    U. Yayan
    Advances in Electrical and Computer Engineering, 23(3), pp. 47–56, 2023.
    DOI: https://doi.org/10.4316/AECE.2023.03006

  • Towards an Extensive Set of Criteria for Safety and Cyber-Security Evaluation of Cyber-Physical Systems
    A. Smrčka, B. Sangchoolie, E. Mingozzi, U. Yayan, et al.
    Open Research Europe, 3:219, 2023.
    DOI: https://doi.org/10.12688/openreseurope.16234.1

  • Evaluation of Deep Neural Network Quality by CleanAI Coverage Metrics Library
    A. H. Ayubi, F. Taskin, O. Caglar, S. Asik, C. Baglum, U. Yayan
    International Conference on Innovations in Intelligent Systems and Applications (INISTA), 2023.
    DOI: https://doi.org/10.1109/INISTA59065.2023.10310324

  • Development of Cloud and Artificial Intelligence Based Software Testing Platform (ChArIoT)
    O. Caglar, F. Taskin, C. Baglum, S. Asik, U. Yayan
    Innovations in Intelligent Systems and Applications Conference (ASYU), 2023.
    DOI: https://doi.org/10.1109/ASYU58738.2023.10296551

  • Verification Toolchain of Industrial Robot Inspection Cell for Quality Control of Automotive Body-in-White
    C. Baglum, A. K. Erdoğmuş, U. Yayan
    Innovations in Intelligent Systems and Applications Conference (ASYU), 2023.
    DOI: https://doi.org/10.1109/ASYU58738.2023.10296576

2022

  • Multidimensional Framework for Characterizing Verification and Validation of Automated Systems
    J. A. Agirre, U. Yayan, et al.
    18th European Dependable Computing Conference (EDCC), 2022.
    DOI: https://doi.org/10.1109/EDCC57035.2022.00018

  • Development of a Fault Injection Tool & Dataset for Verification of Camera-Based Perception in Robotic Systems
    U. Yayan, A. K. Erdoğmuş
    Eskişehir Osmangazi University Journal of Engineering and Architecture, 30(3), pp. 328–339, 2022.
    DOI: https://doi.org/10.31796/ogummf.1054761

  • Tailored Mutation-Based Software Fault Injection Tool (IM-FIT) for Industrial Robotic Systems
    U. Yayan, C. Bağlum
    TOK National Automatic Control Conference, 2022.

2021

  • Verification and Validation of an Automated Robot Inspection Cell for Automotive Body-in-White: A Use Case for the VALU3S ECSEL Project
    A. Kanak, S. Ergun, A. Yazici, M. Ozkan, G. Çokünlü, U. Yayan, M. Karaca, A. T. Arslan
    Open Research Europe, 1:115, 2021.
    DOI: https://doi.org/10.12688/openreseurope.13627.1

  • Cross-Domain Modelling of Verification and Validation Workflows in the Large Scale European Research Project VALU3S
    T. Bauer, J. A. Agirre, D. Furcho, W. Herzner, B. Hruska, M. Karaca, et al.
    International Conference on Embedded Computer Systems: Architectures, Modeling and Simulation (SAMOS XXI), 2021.

  • A Proposal for the Classification of Methods for Verification and Validation of Safety, Cybersecurity, and Privacy of Automated Systems
    J. L. de la Vara, T. Bauer, B. Fischer, M. Karaca, H. Madeira, et al.
    14th International Conference on the Quality of Information and Communications Technology (QUATIC), 2021.

  • Manipulation of Camera Sensor Data via Fault Injection for Anomaly Detection Studies in Verification and Validation Activities for AI
    A. K. Erdoğmuş, M. Karaca, U. Yayan

    1.  

    https://arxiv.org/abs/2108.13803

  • Endüstriyel Robot Hareket Planlama Algoritmaları Performans Karşılaştırması
    A. K. Erdoğmuş, U. Yayan
    Journal of Scientific Technology and Engineering Research, 2(2), pp. 31–45, 2021.
    DOI: https://doi.org/10.53525/jster.979689

  • Araç Şaselerinin Kalite Kontrolü için Simülasyon Tabanlı Otonom Endüstriyel Robot Test Sistemi Geliştirilmesi
    A. K. Erdoğmuş, M. Karaca, U. Yayan, G. Çokünlü
    TOK 2021 – National Automatic Control Conference, 2021.

✦ Reliability & Dependability

2022

  • Prognostics-Aware Multi-Robot Route Planning to Extend the Lifetime
    U. Yayan, A. Yazıcı, İ. Sarıçiçek
    Kuwait Journal of Science, 2022.
    DOI: https://doi.org/10.48129/kjs.13237

2020

  • Prognostic and Health Management (PHM) Tool for Robot Operating System (ROS)
    H. Gencturk, E. Erdogan, M. Karaca, U. Yayan

    1.  

    https://arxiv.org/abs/2011.09222

  • Convolutional Auto-Encoder Based Degradation Point Forecasting for Bearing Data Set
    A. T. Arslan, U. Yayan
    Lecture Notes on Data Engineering and Communications Technologies, Vol. 43, pp. 817–829, 2020.
    DOI: https://doi.org/10.1007/978-3-030-36178-5_71

2019

  • Reliability Based Multi-Robot Route Planning
    U. Yayan, A. Yazıcı
    International Journal of Robotics and Automation, 34(3), 2019.
    DOI: 10.2316/J.2019.206-5291

2018

  • Çoklu Robot Rota Planlamada Güvenilirliğin Etkisi: Bir Durum Çalışması
    U. Yayan, A. Yazıcı
    Türkiye Robotbilim Konferansı, İstanbul, 2018.

  • Gezgin Robotlara Yük Taşıma Görevinde Batarya Akımı Değişimine Göre Durum Farkındalığı Kazandırılması
    M. Helvacı, M. Ağdere, Ş. Akdeniz, B. Yaldıran, F. Kolsuz, U. Yayan, R. Edizkan, A. Yazıcı
    Türkiye Robotbilim Konferansı, İstanbul, 2018.

2017

  • Comparison of Reliability Based and Distance Based Multi-Robot Task Allocation
    U. Yayan, M. O. Tas, D. Özüpek, A. Yazıcı
    3rd International Conference on Engineering and Natural Sciences (ICENS), Budapest, 2017.

  • Reliability Based Task Allocation Analysis for Multi-Robot Systems by Using Fuzzy Logic
    U. Yayan, M. O. Tas, H. S. Yavuz, A. Yazıcı
    Innovations in Intelligent Systems and Applications Conference (ASYU), 2017.

Last Updated At: 10/6/2026

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