Keynote Speakers

 

 

Prof. Ahmed Chemori
University of Montpellier, France

 

Speech Title: Motion Control of Parallel Kinematic Manipulators for Industrial Applications

Abstract: Serial robotic manipulators consist of a set of sequentially connected links, forming an open kinematic chain. These robots are mainly characterized by their large workspace and their high dexterity. However, despite these advantages, in order to perform tasks requiring high speeds/accelerations and/or high precision; such robots are not always recommended because of their lack of stiffness and accuracy. Indeed, parallel kinematic manipulators (PKMs) are more suitable for such tasks. The main idea of their mechanical structure consists in using at least two kinematic chains linking the fixed base to the travelling plate, where each of these chains contains at least one actuator. This may allow a good distribution of the load between the chains. PKMs have important advantages with respect to their serial counterparts in terms of stiffness, speed, accuracy and payload. However, these robots are characterized by their high nonlinear dynamics, kinematic redundancy, uncertainties, actuation redundancy, singularities, etc. Besides, when interested in high-speed robotized repetitive tasks, such as food packaging and waste sorting applications, the key idea lies in looking for short cycle-times. This means obviously to look for short motion and short stabilization times while guaranteeing the robustness and performance with respect to disturbances and changes/uncertainties in the operational conditions. Consequently, if we are interested in control of such robots, all these issues should be taken into account, which makes it a bit challenging task. This talk will give an overview of some proposed advanced control solutions for high-speed industrial applications of PKMs in food packaging, waste sorting, and machining tasks. The proposed solutions are mainly borrowed from nonlinear robust and adaptive control techniques and have been validated through real time experiments on different PKM prototypes.

Bio: Ahmed Chemori received his M.Sc. and Ph.D. degrees, both in automatic control from Polytechnic Institute of Grenoble, France, in 2001 and 2005 respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and University Paris 11. Then he joined Gipsa-Lab (Former LAG) as a CNRS postdoctoral researcher. He is currently a senior CNRS researcher in Automatic control and Robotics for the French National Center for Scientific Research (CNRS), at the Montpellier Laboratory of Computer Science, Robotics and Microelectronics (LIRMM). His research interests include nonlinear (robust, adaptive and predictive) control and their real-time applications in different fields of robotics (underactuated robotics, parallel robotics, underwater robotics, humanoid robotics and wearable robotics). He is the author of more than 160 scientific publications, including international journals, patents, books, book chapters and international conferences. He co-supervised 19 PhD theses (including 17 defended) and more than 40 MSc theses. He served as a TPC/IPC member or associate editor for different international conferences and he organized different scientific events. He is IEEE Senior member, and IFAC TC1.2, TC4.2 and TC7.2 member.

 


 

Dr. Ji-Hong Li (Chief Researcher)
Korea Institute of Robotics and Technology Convergence, Republic of Korea

 

Speech Title: Trajectory Tracking of Underactuated Marine Vehicles

Abstract: This talk addresses the trajectory tracking problem for a class of underactuated marine vehicles. By introducing certain coordinates transformations, the vechicle’s tracking model can be reduced to a form of full actuated system, which, unfortunately, is not guaranteed to be in the strict-feedback form. An EMO (exponential modification of orientation) concept is introduced for the purpose of avoiding possible singularity during the recursive controller design using general backstepping method. Proposed scheme can be directly applicable to the system regardless of if it’s minimum or non-minimum phase.

Bio: Ji-Hong Li is a chief researcher in Korea Institute of Robotics and Technology Convergence, Republic of Korea. He received his B.S. in physics from Jilin University, China, in 1991; M.E. in 1999 and Ph.D. in 2003 both in Electronics Engineering from Chungnam National University, Korea. Dr. Li currently is an adjunct professor in Pukyong National University, Korea, and a guest professor in Shenyang Institute of Automation, Chinese Academy of Sciences, China. He has published more than 150 peer-reviewed papers. His current research interests mainly focus on the navigation, guidance, and control of various marine robotics. He is the winner of 26th Korean “Ocean Day” Minister Award, Ministry of Oceans & Fisheries, Korea, and the winner of 2021 Korean Top 100 Outstanding R&D Achievements, and as well as several best paper awards in the marine robotics related academic conferences. In addition, he is the board member of Korea Marine Robot Technology Society, Korea Institute of Unmanned Systems, as well as IEEE senior member, and IFAC TC2.3, TC7.2 members.

 

 

Invited Speakers

Gisung Kwon (Founder and Chief Executive Officer)
Sheco Co., Ltd, Republic of Korea

 

Speech Title: Sheco Ark - The Future Technology of Marine Recovery, Innovative Marine Recovery Robot

Abstract: Every year, numerous oil spill incidents occur worldwide, and the response to these spills is mostly carried out manually. Sheco introduces a technology that can effectively reduce manual labor in marine spill response: the “Sheco Ark,” a marine spill response robot. This session will present the journey from the inception of the world’s first mass-produced marine spill response robot to its commercialization and future vision. The marine recovery robot technology presents how Sheco is opening a new chapter in marine spill response technology, protecting our oceans, and contributing to the creation of a sustainable marine ecosystem.

Bio: Gisung Kwon is a founder and chief executive officer of Sheco Co., Ltd, Republic of Korea. He is also a member of Incheon Innopolis(The R&D Innovation Cluster) from Korea Innovation Foundation and Drone Special Area in Gunsan city.  He received his bachelor’s degree in department of trade from Incheon University in 2017. He is selected as a representative young entrepreneur of South Korea from P4G in Denmark, and SE focused entrepreneurs from SK Innovation. He has been invited to various lectures which are World Ocean Forum, Inchoen International Ocean Forum, SOVAC Open Innovation of SK Innovation and etc. He received a letter of appreciation from Korea Coast Guard, Shinhan Square Bridge and etc. He has won many awards in innovation fields such as Grand Prize at Social Venture Competition Aisa(SVCA), Gold Prize at Geneva International Inventions, Grand Prize at Maritime Defense Technology Innovation Idea Competition, Grand Prize at Maritime Defense Technology Innovation Idea Competition and etc.

 

Prof. Mehmet Emir
Ondokuz Mayis University, Turkey

 

Speech Title: Fractional Order Thinking and Modeling

Abstract: Fractional calculus has become very famous and popular subject in recent years. It is used as a powerful and important mathematical modelling tool, for defining, investigating, analyzing, solving, and discussing many different types of engineering, physical, chemical, statistical, and social problems in real life. In fact, fractional order dynamic models simulate characteristics of real dynamic systems better than the integer order models. In this lecture, I will introduce basic concepts of fractional calculus, present various applications in distinct areas of science and engineering, and predict possible future research trends on this topic.
A three-dimensional (3D) graphical method is developed to tune the gain parameters of the fractional-order proportional-integral-derivative (FOPID) controller knowing the fractional orders. The controlled plant itself is also fractional order and it may have a time delay. For special cases, the method is applicable for integer-order PID controller design for integer and fractional-order systems with or without time delay. Some graphical design tools are used beneficially in the literature using 2D plots. Although the use of some minor 3D plots has appeared, they are based on shifting 2D plots to the third dimension, which makes the approach semi- or quasi-3D. Mathematical formulations of five design specifications in accordance with the 3D drawing with programming implementations by Matlab are presented. For designing controllers by using the introduced 3D graphical method, system design specifications such as phase margin (PM), gain margin (GM), phase flatness (PF), low-frequency output disturbance rejection (LFODR) and high-frequency noise rejection (HFNR) are considered and their important characteristics are shown. The requirements are mapped in the 3D Euclid space by 3D surfaces and/or lines so that the proportional, integral, derivative control coefficients can be chosen to meet the given specifications in an optimum way and to allow trade-off or compromise.

Bio: Mehmet Emir is a Professor of Mathematics at the Ondokuz Mayis University. He received his Ph.D. in Mathematics from Gebze Institute of Technology, Turkey in 2009. After receiving his Ph.D., he studied as a Postdoctoral Researcher at the Department of Mathematical Sciences, Florida Institute of Technology, Melbourne between 2009 and 2010. In 2014, he passed the exam held by The Presidency of the Inter-University Council of Turkey and received the title of Associate Professor in Mathematics. He was a Visiting Professor at the Chair Mathematics of Systems Theory in the Department of Applied Mathematics at the University of Twente from 2022 to 2023. In 2023, he also became associate professor of electrical and electronics engineering and in Turkey, he is the first scientist who has become an associate professor of electrical and electronics engineering whilst being a mathematics professor.

His research interests are in systems and control theory, circuit and system theory, differential equations, and numerical analysis. The main focus is on the development and analysis of commutativity conditions of time-varying systems, feedback systems, decomposition and transitivity properties of commutativity, and applications of commutativity in physical systems using differential and difference equations. He also studies ordinary and partial differential equations, their numerical solution methods, and mathematical modeling and analysis of various engineering problems using differential equations. He has published many research papers in eligible international journals, and he has many proceedings presented at famous international conferences. He reviewed over 200 manuscripts for 60 different international peer-reviewed journals and 40 different international conferences. His research has been mainly supported by the Scientific and Technological Research Council of Turkey. In this field, he has led two national projects, one of which was awarded a project performance award. He has been a keynote speaker, invited speaker and a member of the organizing and scientific committees of many well-known international conferences.