苏颂
In the 11th century, the Song dynasty Chinese horologist, mechanical engineer, and astronomer Su Song created a water-driven astronomical clock for his clock-tower of Kaifeng City. Su Song is noted for having incorporated an escapement mechanism and the earliest known endless power-transmitting chain drive for his clock-tower and armillary sphere to function. Contemporary Muslim astronomers and engineers also constructed a variety of highly accurate astronomical clocks for use in their observatories, such as the castle clock (a water-powered astronomical clock) by Al-Jazari in 1206, and the astrolabic clock by Ibn al-Shatir in the early 14th century.