学生のLE, Nhat Dinh Minhさん（博士後期課程3年、人間情報学研究領域、ホ研究室）がThe 2024 16th IEEE/SICE International Symposium on System Integration(SII2024)においてBest Student Paper Awardを受賞しました。

　SII2024は、VNU工科大学が主催し、1月8日～11日にかけてベトナム（ハロン）にて開催された国際会議です。IEEE/SICE SIIはシステムインテグレーションに関する最先端技術と将来の展望を提示する主要な会議で、産業界の専門家、研究者、学者がフロンティア技術、画期的で革新的なソリューション、アプリケーションに関するアイデアや経験を共有することを目的としています。システムインテグレーションはキーテクノロジーのひとつであり、新世紀における産業システムや社会システムの問題を解決するためには、ハードウェアとソフトウェアの統合が特に重要になります。SII2024では、システムインテグレーションの新しい研究と産業応用に焦点を当て、その有効性を向上させるためのアプローチと方法論について議論が交わされました。
　Best Student Paper Awardは、同会議において最も優れた研究成果を発表した学生に授与されるものです。

※参考：SII2024

■受賞年月日
　令和6年1月10日

■研究題目
Distributed Cascade Force Control of Soft-Tactile-Based Multi-Robot System for Object Transportation

■研究者、著者
Duy Anh Nguyen(University of Prince Edward Island)、Nhat Minh Dinh Le、Nhan Huu Nguyen、Pham Duy Hung(University of Engineering and Technology (VNU-UET))、Van Anh Ho、Trung Dung Ngo(University of Prince Edward Island)

■受賞対象となった研究の内容
In this paper, we present a distributed cascade force control system (DCFC) for multiple robots with the aim of pushing a rigid object towards a desired moving target without their inter-robot communication. These mobile robots are equipped with 360-degree vision-based soft tactile sensors utilized to determine contact location and resultant impact force. By investigating the dynamics of moving rigid objects on the flat, we proposed a distributed cascade control. The inner loop control incorporates contact force and positioning, ensuring the robots' pushing contact and applying the desired force to the object. The outer loop control coordinates the robots to push the object in a desired direction without inter-robot communication, regardless of unknown object mass and friction uncertainty. The stability and convergence of the control system are verified using the Lyapunov stability theory. We also conducted simulation and real-world experiments to validate the performance of the proposed control method, and the experimental results showcase the successful coordination of multiple robots in pushing an object towards a moving desired direction.

■受賞にあたって一言
I am incredibly grateful to every author who contributed to this project especially Lecturer Pham Duy Hung, Assistant Professor Nguyen Huu Nhan, Professor Trung Dung Ngo and Associate Professor Ho Anh Van. Without your dedication, expertise, and unwavering support, receiving this best student paper award at SII2024 would not have been possible. Besides, I extend my huge thanks to Nguyen Anh Duy for going above and beyond! His hard work led to incredible results, and his presentation at SII2024 was simply amazing. I'm particularly thankful to the JAIST Off-Campus Research Grant Program for providing me with the invaluable opportunity to conduct research in Canada. This experience significantly enhanced my abilities and boosted more productive collaboration within our team. Together, we were able to achieve remarkable progress, and this award serves as a powerful proof of our efforts. Looking ahead, I'm excited to continue building upon this momentum and explore new research avenues alongside my talented colleagues and greatest professors.

令和6年2月27日