Krishna Krishnan

Bharath Rao, Hui Li, Krishna Krishnan et al.

Humans can determine a proper strategy to grasp an object according to the measured physical attributes or the prior knowledge of the object. This paper proposes an approach to determining the strategy of dexterous grasping by using an anthropomorphic robotic hand simply based on a label or a description of an object. Object attributes are parsed from natural-language descriptions and augmented with an object knowledge base that is scraped from retailer websites. A novel metric named joint probability distance is defined to measure distance between object attributes. The probability distribution of grasp types for the given object is learned using a deep neural network which takes in object features as input. The action of the multi-fingered hand with redundant degrees of freedom (DoF) is controlled by a linear inverse-kinematics model of grasp topology and scales. The grasping strategy generated by the proposed approach is evaluated both by simulation and execution on a Sawyer robot with an AR10 robotic hand.

Maryam Abdirad, Krishna Krishnan, Deepak Gupta

Companies are eager to have a smart supply chain especially when they have a dynamic system. Industry 4.0 is a concept which concentrates on mobility and real-time integration. Thus, it can be considered as a necessary component that has to be implemented for a Dynamic Vehicle Routing Problem. The aim of this research is to solve large-scale DVRP (LSDVRP) in which the delivery vehicles must serve customer demands from a common depot to minimize transit cost while not exceeding the capacity constraint of each vehicle. In LSDVRP, it is difficult to get an exact solution and the computational time complexity grows exponentially. To find near optimal answers for this problem, a hierarchical approach consisting of three stages callled cluster first, route construction second, route improvement third is proposed. The major contribution of this paper is dealing with large-size real-world problems to decrease the computational time complexity. The results confirmed that the proposed methodology is applicable.

Maryam Abdirad, Krishna Krishnan, Deepak Gupta

Industry 4.0 is a concept that assists companies in developing a modern supply chain (MSC) system when they are faced with a dynamic process. Because Industry 4.0 focuses on mobility and real-time integration, it is a good framework for a dynamic vehicle routing problem (DVRP). This research works on DVRP. The aim of this research is to minimize transportation cost without exceeding the capacity constraint of each vehicle while serving customer demands from a common depot. Meanwhile, new orders arrive at a specific time into the system while the vehicles are executing the delivery of existing orders. This paper presents a two-stage hybrid algorithm for solving the DVRP. In the first stage, construction algorithms are applied to develop the initial route. In the second stage, improvement algorithms are applied. Experimental results were designed for different sizes of problems. Analysis results show the effectiveness of the proposed algorithm.