Keynotes
Keynote № 1
On Science and Technology Policy of the Republic of Kazakhstan
Resume:
Darkhan Akhmed-Zaki is the Vice Minister of Science and Higher Education of the Republic of Kazakhstan since September 2023. He graduated from Al-Farabi Kazakh National University in 2002 and Satbayev Kazakh National Technical University in 2007 with a specialty in oil and gas engineering. His career includes various academic positions at Al-Farabi Kazakh National University from 2004 to 2012, including Assistant Professor, Senior Lecturer, and Head of the Informatics Department. He served as Dean of the Mechanics and Mathematics Faculty (2012-2013) and Vice-Rector for Academic Affairs (2013-2016) at Al-Farabi KazNU. He was Director of the Higher and Postgraduate Education Department at the Ministry of Education and Science (2016-2017), President of the University of International Business (2017-2020), Rector of Astana IT University (2020-2022), and Chairman of the Science Committee of the Ministry of Science and Higher Education (2022-2023). Akhmed-Zaki has authored over 150 scientific works published in international and Kazakhstani journals, with research focusing on program verification theory and the organization of distributed and parallel computing, as well as the modernization of the higher education system. He is a recipient of the State Scientific Scholarship for scientists and specialists who have made an outstanding contribution to the development of science and technology.
Darkhan Akhmed-Zaki is the Vice Minister of Science and Higher Education of the Republic of Kazakhstan since September 2023. He graduated from Al-Farabi Kazakh National University in 2002 and Satbayev Kazakh National Technical University in 2007 with a specialty in oil and gas engineering. His career includes various academic positions at Al-Farabi Kazakh National University from 2004 to 2012, including Assistant Professor, Senior Lecturer, and Head of the Informatics Department. He served as Dean of the Mechanics and Mathematics Faculty (2012-2013) and Vice-Rector for Academic Affairs (2013-2016) at Al-Farabi KazNU. He was Director of the Higher and Postgraduate Education Department at the Ministry of Education and Science (2016-2017), President of the University of International Business (2017-2020), Rector of Astana IT University (2020-2022), and Chairman of the Science Committee of the Ministry of Science and Higher Education (2022-2023). Akhmed-Zaki has authored over 150 scientific works published in international and Kazakhstani journals, with research focusing on program verification theory and the organization of distributed and parallel computing, as well as the modernization of the higher education system. He is a recipient of the State Scientific Scholarship for scientists and specialists who have made an outstanding contribution to the development of science and technology.
Prof.
Darkhan Akhmed-Zaki
Darkhan Akhmed-Zaki
Vice Minister of Science and Higher Education of the Republic of Kazakhstan
Keynote № 2
Design, Control and Ground Verification Test of Space Manipulating Robots
Resume:
Jun He is currently a full professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. He earned his Ph.D. in mechanical engineering from Shanghai Jiao Tong University in 2008. He serves as the director of Shanghai Smart Manufacturing Service Platform of Aeronautics and Astronautics. His research interests include mechanisms and robotics in space. As a project leader, he was engaged in more than twenty projects regarding space robots, including the National Natural Science Foundation of China, Equipment Pre-research Aerospace Joint Fund, etc. He published more than forty papers in international journals and conference proceedings and has been granted more than ten patents. He won several scientific and technical awards, such as the First-class Prize of Technical Invention of Shanghai, the Excellent Paper Award of Chinese Mechanical Engineering Society (CMES). He serves as the member of the IFToMM China Committee, the member of Space Mechanism Institution of the CMES, and the member of Aerospace Control Committee of the China Association of Automation.
Jun He is currently a full professor with the School of Mechanical Engineering, Shanghai Jiao Tong University. He earned his Ph.D. in mechanical engineering from Shanghai Jiao Tong University in 2008. He serves as the director of Shanghai Smart Manufacturing Service Platform of Aeronautics and Astronautics. His research interests include mechanisms and robotics in space. As a project leader, he was engaged in more than twenty projects regarding space robots, including the National Natural Science Foundation of China, Equipment Pre-research Aerospace Joint Fund, etc. He published more than forty papers in international journals and conference proceedings and has been granted more than ten patents. He won several scientific and technical awards, such as the First-class Prize of Technical Invention of Shanghai, the Excellent Paper Award of Chinese Mechanical Engineering Society (CMES). He serves as the member of the IFToMM China Committee, the member of Space Mechanism Institution of the CMES, and the member of Aerospace Control Committee of the China Association of Automation.
Prof. Jun He
School of Mechanical Engineering
Shanghai Jiao Tong University
No.800, Dongchuan Road, Minhang District
Shanghai 200240, China
Email: jhe@sjtu.edu.cn
Abstract：
On-orbit service technologies are used widely in the fields of satellite maintenance, large space module assembly, and space debris removal etc. These call for the application of a space robot equipped with grippers to perform tasks in the particularly harsh space environment. There exist three challenging issues in terms of satellite maintenance with space robots, i.e., i) how to design dexterous manipulating mechanisms with high stiffness for complex operating missions? ii) how to perform the dynamic control, combining the satellite and manipulating robots? iii) how to simulate the zero-gravity environment on ground for the verification of the design and control of manipulating robots? To handle these challenges, the speaker’s team has conducted systematic and in-depth research over the past decade.
This speech will introduce the mechanism design, control method and ground verification test of space manipulating robots. First, the design of space robotic manipulator, multi-functional end-effectors, and tool changer is presented. The manipulator utilizes a novel foldable serial-parallel hybrid mechanism, which is connected in a series by a 3-DOF parallel part with 1-PU&2-PUS configurations and a 4- DOF serial part with a 4R configuration. The multi-functional end-effectors can carry out all kinds of missions during satellite maintenance, such as detumbling, capturing and inspecting. Second, a control scheme for the hybrid manipulator with the end-effectors to capture a non-cooperative target in a zero-gravity environment is proposed, including three modules: admittance control, motion estimation of the target satellite, and feedforward of the reaction forces. Finally, a hardware-in-the-loop (HIL) simulation system with industrial robots is established and the zero-gravity simulating methodology is proposed. During the HIL simulation, a great challenge is to handle simulation divergence due to intrinsic time delay between the measured forces and the simulation driven reaction of the robot. A novel compensation strategy based on contact stiffness identification and damping amendment is proposed to eliminate the effects of time delays. In terms of the compensating method, an energy observer is designed to monitor the energy flow and an energy controller (EC) is established. The EC acts a variable damping and thus the contact damping is amended. Utilizing the presented method, space robotic operations with high fidelity of both contact force and contact velocity are reproduced on the presented HIL simulation system. In addition, the fully physical experiments based on air-bearing testbeds have conducted, which also confirm the validity of the proposed design and control methods.
On-orbit service technologies are used widely in the fields of satellite maintenance, large space module assembly, and space debris removal etc. These call for the application of a space robot equipped with grippers to perform tasks in the particularly harsh space environment. There exist three challenging issues in terms of satellite maintenance with space robots, i.e., i) how to design dexterous manipulating mechanisms with high stiffness for complex operating missions? ii) how to perform the dynamic control, combining the satellite and manipulating robots? iii) how to simulate the zero-gravity environment on ground for the verification of the design and control of manipulating robots? To handle these challenges, the speaker’s team has conducted systematic and in-depth research over the past decade.
This speech will introduce the mechanism design, control method and ground verification test of space manipulating robots. First, the design of space robotic manipulator, multi-functional end-effectors, and tool changer is presented. The manipulator utilizes a novel foldable serial-parallel hybrid mechanism, which is connected in a series by a 3-DOF parallel part with 1-PU&2-PUS configurations and a 4- DOF serial part with a 4R configuration. The multi-functional end-effectors can carry out all kinds of missions during satellite maintenance, such as detumbling, capturing and inspecting. Second, a control scheme for the hybrid manipulator with the end-effectors to capture a non-cooperative target in a zero-gravity environment is proposed, including three modules: admittance control, motion estimation of the target satellite, and feedforward of the reaction forces. Finally, a hardware-in-the-loop (HIL) simulation system with industrial robots is established and the zero-gravity simulating methodology is proposed. During the HIL simulation, a great challenge is to handle simulation divergence due to intrinsic time delay between the measured forces and the simulation driven reaction of the robot. A novel compensation strategy based on contact stiffness identification and damping amendment is proposed to eliminate the effects of time delays. In terms of the compensating method, an energy observer is designed to monitor the energy flow and an energy controller (EC) is established. The EC acts a variable damping and thus the contact damping is amended. Utilizing the presented method, space robotic operations with high fidelity of both contact force and contact velocity are reproduced on the presented HIL simulation system. In addition, the fully physical experiments based on air-bearing testbeds have conducted, which also confirm the validity of the proposed design and control methods.
Keynote № 3
Development of Theory of Mechanisms and Machine Science in Kazakhstan: Theory and Practice of Synthesizing New Innovative Mechanisms and Biomechanical Robotic Systems
Resume:
Amandyk Tuleshov received his B.S. in Mechanics from S.M. Kirov Kazakh State University (now Al-Farabi Kazakh National University) in 1984, completed postgraduate study in the theory of mechanisms and machines in 1987, earned his Candidate of Engineering Sciences in 1989, and his Doctorate in 2000. He became a Professor of Mechanics in 2002. Tuleshov has held various significant positions, including Leading Engineer, Senior Lecturer, and Associate Professor at Al-Farabi Kazakh National University (1987-1996), Deputy Vice-Rector for Research (1996-1999), Director of the State Enterprise "Scientific and Technological Park" (1997-2005), Chief Academic Secretary and Acting President of the National Engineering Academy of Kazakhstan (2005-2011), First Vice-Rector of M. Kozybaev North Kazakhstan State University (2011-2012), Vice-Chairman of the Science Committee of the MES RK (2012-2015), President of JSC "Science Fund" (2015-2016), and CEO of U. Joldasbekov Institute of Mechanics and Engineering (2016-2021). His research focuses on kinematics and dynamics of linkages, dynamics, and control of flow and rotary machines, and robotics. Tuleshov has supervised numerous research projects and published over 200 scientific works. He has received many awards, including the order "Kurmet" and the title of “Honorary Worker of Education of Kazakhstan,” and is a member of several prestigious scientific organizations and editorial boards.
Prof. Amandyk Tuleshov
Joldasbekov Institute of Mechanics and Engineering, Kazakhstan
Resume:
Sayat Ibrayev graduated with honors from the Republican School of Physics and Mathematics in Almaty, Kazakhstan, in 1983. He earned his Diploma from the Faculty of Mechanics and Mathematics at Lomonosov Moscow State University in 1988 and his master's degree from the Institute of Mathematics and Mechanics at the Academy of Sciences of the Kazakh SSR in 1992, where he defended his Ph.D. thesis the same year. Ibrayev began his career as an engineer at Al-Farabi Kazakh State University in 1988. Since 1991, he has been with the Institute of Mechanics and Engineering of the National Academy of Sciences of Kazakhstan, serving as a researcher, senior researcher, and chief researcher, where he earned his Doctor of Technical Sciences in 1996. From 1998 to 2000, he worked at Technical University Chemnitz and Fraunhofer IWU in Germany, supported by the Alexander von Humboldt Foundation. Between 2001 and 2010, he was a professor and head of the Department of Theoretical and Applied Mechanics at Satbayev University. Currently, Ibrayev is the chief researcher and head of the Laboratory Mechanics of Robots and Manipulators at the Joldasbekov Institute of Mechanics and Engineering in Almaty. He has authored 140 scientific publications, including five monographs and ten patents, and the popular science book Aqylsyz Bolsa Ghylym Tul. Under his supervision, five candidates of sciences and one Ph.D. have been defended. Ibrayev has also created and presented educational programs on the Republican Television and Radio Corporation Kazakhstan. He received the Gold Medal from the Republican School of Physics and Mathematics and was elected as a Deputy of the Maslikhat of Almaty of the III Convocation.
Prof. Sayat Ibrayev
Joldasbekov Institute of Mechanics and Engineering, Kazakhstan
Abstract：
Lever mechanisms continue to play a significant role in modern mechanical engineering and robotic systems. The development of numerical and numerical-analytical methods for the kinematic and dynamic synthesis of planar and spatial lever mechanisms in the 1980s and 1990s marked an important epoch in the evolution of the Kazakh school of TMM. This report addresses the challenges in developing the theory and practice of synthesizing lever mechanisms, using examples such as creating innovative presses based on high-class multi-contour mechanisms and musculoskeletal mechanisms for exoskeletons and walking robots.
The rapid increase in the computing power of modern computers in the 21st century has enabled the establishment of qualitatively new tasks for the structural and kinematic synthesis of lever mechanisms and the exploration of their new functionalities. This research, conducted in collaboration with Russian and German scientists (Prof. Eduard Peisakh, Prof. Dr.-Ing. habil. Hans Dresig, Prof. Dr.-Ing. habil. Jurgen Schoenherr), led to the development of a CAD analysis and optimization synthesis subsystem for multi-link mechanisms. This demonstrated the significant potential of these mechanisms for generating specified functions (function and path generation).
Subsequently, these methods were refined to account for the force transfer factor in relation to the mechanisms of presses and robot manipulation systems, known as parallel robots. Based on these methods, innovative lever mechanisms for presses were developed using a minimum number of statically definable groups (Assur groups), effectively eliminating the problem of self-braking in crank presses. The implementation of Assur group mechanisms of higher classes (fourth and fifth grades) in kinematic circuits resolved the issue of precise standing of the working body (slider) and significantly expanded the functional capabilities of these mechanisms. The proposed press mechanisms feature balanced force transfer along the line of symmetry and lack a transverse reaction to the guide, which increases the load capacity of the press, reduces linear guide wear, and crucially, eliminates self-braking while ensuring the required technological stand of the working slider.
A key achievement in modeling kinematics, kinetostatics, and dynamics is the definition of solutions in an analytical form, greatly simplifying the analysis and synthesis of these mechanisms. Further development of synthesis methods led to the creation of manipulator mechanisms with several degrees of freedom and adjustable mechanisms for reproducing a series of stereotypical movements of the output link. These synthesis methods enabled the design of musculoskeletal mechanisms for walking robots and lower limb exoskeletons used in robot-assisted rehabilitation technologies for patients with impaired limb mobility. The new results form the foundation for advancing a novel innovative field of biomechanics and medical robotics.
Lever mechanisms continue to play a significant role in modern mechanical engineering and robotic systems. The development of numerical and numerical-analytical methods for the kinematic and dynamic synthesis of planar and spatial lever mechanisms in the 1980s and 1990s marked an important epoch in the evolution of the Kazakh school of TMM. This report addresses the challenges in developing the theory and practice of synthesizing lever mechanisms, using examples such as creating innovative presses based on high-class multi-contour mechanisms and musculoskeletal mechanisms for exoskeletons and walking robots.
The rapid increase in the computing power of modern computers in the 21st century has enabled the establishment of qualitatively new tasks for the structural and kinematic synthesis of lever mechanisms and the exploration of their new functionalities. This research, conducted in collaboration with Russian and German scientists (Prof. Eduard Peisakh, Prof. Dr.-Ing. habil. Hans Dresig, Prof. Dr.-Ing. habil. Jurgen Schoenherr), led to the development of a CAD analysis and optimization synthesis subsystem for multi-link mechanisms. This demonstrated the significant potential of these mechanisms for generating specified functions (function and path generation).
Subsequently, these methods were refined to account for the force transfer factor in relation to the mechanisms of presses and robot manipulation systems, known as parallel robots. Based on these methods, innovative lever mechanisms for presses were developed using a minimum number of statically definable groups (Assur groups), effectively eliminating the problem of self-braking in crank presses. The implementation of Assur group mechanisms of higher classes (fourth and fifth grades) in kinematic circuits resolved the issue of precise standing of the working body (slider) and significantly expanded the functional capabilities of these mechanisms. The proposed press mechanisms feature balanced force transfer along the line of symmetry and lack a transverse reaction to the guide, which increases the load capacity of the press, reduces linear guide wear, and crucially, eliminates self-braking while ensuring the required technological stand of the working slider.
A key achievement in modeling kinematics, kinetostatics, and dynamics is the definition of solutions in an analytical form, greatly simplifying the analysis and synthesis of these mechanisms. Further development of synthesis methods led to the creation of manipulator mechanisms with several degrees of freedom and adjustable mechanisms for reproducing a series of stereotypical movements of the output link. These synthesis methods enabled the design of musculoskeletal mechanisms for walking robots and lower limb exoskeletons used in robot-assisted rehabilitation technologies for patients with impaired limb mobility. The new results form the foundation for advancing a novel innovative field of biomechanics and medical robotics.
Keynote № 4
Development of Skiing and Curling 6-Legged Robots
for Beijing Winter Olympic and Paralympic Games
Resume:
Feng Gao earned his Ph.D. in mechanical engineering from Beijing University of Aeronautics and Astronautics in 1991, and his Master in Mechanical Engineering at Northeast Heavy Machinery Institute in 1982. From 1995 to 1997, he was a postdoctoral research associate in the School of Engineering Science at Simon Fraser University. He was a full professor at Yanshan University from 1995 to 1999. He served first as Vice President and then as President of Hebei University of Technology from 2000 to 2004. From 2009 to 2013, he served as the director of the State Key Laboratory of Mechanical Systems and Vibration at Shanghai Jiao Tong University. Since 2004, he has been the Chair Professor at Shanghai Jiao Tong University. He won the 2013 China National Natural Science Award because of his contributions in parallel mechanism design and the 8 items of awards from the provincial science and technology invention prizes in China. And he won the ASME Leonardo Da Vinci Award in USA in 2014. He has been granted 126 patents and has published 3 research books on mechanisms and robotics, as well as 210 papers in international journals and conference proceedings. He served as the General Member of the ASME Mechanisms and Robotics Committee, the Associate Editors of Mechanism and Machine Theory, ASME Journal of Mechanisms and Robotics, ASME Journal of Mechanical Design, Robotica, Engineering, and Deputy Editor in Chief for the Chinese Journal of Mechanical Engineering (in English). He gave Keynote Speeches in36th ASME Mechanisms and Robotics International Conference(2012) and in IFToMM2015, respectively.
Feng Gao earned his Ph.D. in mechanical engineering from Beijing University of Aeronautics and Astronautics in 1991, and his Master in Mechanical Engineering at Northeast Heavy Machinery Institute in 1982. From 1995 to 1997, he was a postdoctoral research associate in the School of Engineering Science at Simon Fraser University. He was a full professor at Yanshan University from 1995 to 1999. He served first as Vice President and then as President of Hebei University of Technology from 2000 to 2004. From 2009 to 2013, he served as the director of the State Key Laboratory of Mechanical Systems and Vibration at Shanghai Jiao Tong University. Since 2004, he has been the Chair Professor at Shanghai Jiao Tong University. He won the 2013 China National Natural Science Award because of his contributions in parallel mechanism design and the 8 items of awards from the provincial science and technology invention prizes in China. And he won the ASME Leonardo Da Vinci Award in USA in 2014. He has been granted 126 patents and has published 3 research books on mechanisms and robotics, as well as 210 papers in international journals and conference proceedings. He served as the General Member of the ASME Mechanisms and Robotics Committee, the Associate Editors of Mechanism and Machine Theory, ASME Journal of Mechanisms and Robotics, ASME Journal of Mechanical Design, Robotica, Engineering, and Deputy Editor in Chief for the Chinese Journal of Mechanical Engineering (in English). He gave Keynote Speeches in36th ASME Mechanisms and Robotics International Conference(2012) and in IFToMM2015, respectively.
Prof. Feng Gao
State Key Laboratory of Mechanical Systems and Vibration,
School of Mechanical Engineering
Shanghai Jiao Tong University
No.800, Dongchuan Road, Minhang District
Shanghai 200240, China
Email: fengg@sjtu.edu.cn
School of Mechanical Engineering
Shanghai Jiao Tong University
No.800, Dongchuan Road, Minhang District
Shanghai 200240, China
Email: fengg@sjtu.edu.cn
Abstract：
The research on the skiing and curling robots has attracted the attention of the international robot field. In 2019, the relevant articles were published in the Science Robotics to explain that the research for the skiing and curling robots was the preface of International robot science. The speech will introduce the skiing and curling robots. The first was a six-legged skiing robot. With this robot, the front and hind legs were fixed on the skis and each of the two middle legs was holding a ski stick. Each ski had five degrees-of-freedom, through which the height, body pitch-roll angles, center of gravity in relation to the four fixing legs, the edge angle of each ski, and the relative position/ orientation of the skis could be adjusted, allowing full speed and steering control of the robot. The robot could be controlled either by a joystick or operate autonomously and it was tested on both beginner and intermediate slopes to assess its performance and obstacle avoidance capabilities. The second was a six-legged curling robot. It also had six legs and the front two were used as ‘hands’ to control the delivering direction and rotational speed of a curling stone. The two middle legs and the bottom of the body were combined to use as the sliding foot of the robot player, whereas the two rear legs were used as the ‘hack foot’ to push against the hack when starting the delivery of the curling stone. The robot was integrated with both visual and force perception, allowing accurate directional control and delivery of each shot as determined by game plans and team tactics. The robot was demonstrated at the Ice Cube for the Beijing Winter Olympic and Paralympic Games. One exciting prospect of this new curling robot is that it can also be controlled remotely, online. With high level decision support, real-time dynamic modelling and shot planning, one can orchestrate defensive or offensive strategies, making this game of ‘chess on ice’ truly exciting. It is expected that the robot can also become a trainer for curling athletes or enthusiasts, making the sport more accessible to the general public.
The research on the skiing and curling robots has attracted the attention of the international robot field. In 2019, the relevant articles were published in the Science Robotics to explain that the research for the skiing and curling robots was the preface of International robot science. The speech will introduce the skiing and curling robots. The first was a six-legged skiing robot. With this robot, the front and hind legs were fixed on the skis and each of the two middle legs was holding a ski stick. Each ski had five degrees-of-freedom, through which the height, body pitch-roll angles, center of gravity in relation to the four fixing legs, the edge angle of each ski, and the relative position/ orientation of the skis could be adjusted, allowing full speed and steering control of the robot. The robot could be controlled either by a joystick or operate autonomously and it was tested on both beginner and intermediate slopes to assess its performance and obstacle avoidance capabilities. The second was a six-legged curling robot. It also had six legs and the front two were used as ‘hands’ to control the delivering direction and rotational speed of a curling stone. The two middle legs and the bottom of the body were combined to use as the sliding foot of the robot player, whereas the two rear legs were used as the ‘hack foot’ to push against the hack when starting the delivery of the curling stone. The robot was integrated with both visual and force perception, allowing accurate directional control and delivery of each shot as determined by game plans and team tactics. The robot was demonstrated at the Ice Cube for the Beijing Winter Olympic and Paralympic Games. One exciting prospect of this new curling robot is that it can also be controlled remotely, online. With high level decision support, real-time dynamic modelling and shot planning, one can orchestrate defensive or offensive strategies, making this game of ‘chess on ice’ truly exciting. It is expected that the robot can also become a trainer for curling athletes or enthusiasts, making the sport more accessible to the general public.
