{"id":"https://openalex.org/W4416751086","doi":"https://doi.org/10.1109/iros60139.2025.11246469","title":"Evaluating Robot Program Performance with Power Consumption\u2013Driven Metrics in Lightweight Industrial Robots","display_name":"Evaluating Robot Program Performance with Power Consumption\u2013Driven Metrics in Lightweight Industrial Robots","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751086","doi":"https://doi.org/10.1109/iros60139.2025.11246469"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11246469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057795795","display_name":"Juan Heredia","orcid":"https://orcid.org/0000-0001-6024-0485"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":true,"raw_author_name":"Juan Heredia","raw_affiliation_strings":["University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056545840","display_name":"Emil Stubbe Kolvig-Raun","orcid":"https://orcid.org/0009-0005-7819-7661"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Emil Stubbe Kolvig-Raun","raw_affiliation_strings":["University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069059355","display_name":"Sune Lund\u00f8 S\u00f8rensen","orcid":"https://orcid.org/0000-0003-2874-0660"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Sune Lund\u00f8 S\u00f8rensen","raw_affiliation_strings":["University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034655219","display_name":"Mikkel Baun Kj\u00e6rgaard","orcid":"https://orcid.org/0000-0001-5124-744X"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]},{"id":"https://openalex.org/I184886455","display_name":"Maersk (Denmark)","ror":"https://ror.org/046gbzb64","country_code":"DK","type":"company","lineage":["https://openalex.org/I184886455"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Mikkel Baun Kj\u00e6rgaard","raw_affiliation_strings":["University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230"],"affiliations":[{"raw_affiliation_string":"University of Southern Denmark,Maersk Mc-Kinney Moller Institute,Odense,Denmark,5230","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057795795"],"corresponding_institution_ids":["https://openalex.org/I177969490","https://openalex.org/I184886455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45084044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8918","last_page":"8925"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5623999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5623999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.0568000003695488,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.042500000447034836,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7491999864578247},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6281999945640564},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.5823000073432922},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5763999819755554},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4779999852180481},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.4309000074863434},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42100000381469727},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41110000014305115}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7491999864578247},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6281999945640564},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.5823000073432922},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5763999819755554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5349000096321106},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.4377000033855438},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.4309000074863434},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42100000381469727},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.41029998660087585},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.4090999960899353},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.3806999921798706},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.362199991941452},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.320499986410141},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.30000001192092896},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28439998626708984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2720000147819519},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2653999924659729},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C152752567","wikidata":"https://www.wikidata.org/wiki/Q116877","display_name":"Code refactoring","level":3,"score":0.2644999921321869},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26330000162124634},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25999999046325684},{"id":"https://openalex.org/C520301825","wikidata":"https://www.wikidata.org/wiki/Q380170","display_name":"Energy conservation","level":2,"score":0.25929999351501465}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11246469","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246469","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/fa79622d-55ba-48ab-a6fa-0c5627057ef8","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/fa79622d-55ba-48ab-a6fa-0c5627057ef8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heredia, J, Kolvig-Raun, E S, S\u00f8rensen, S L & Kj\u00e6rgaard, M B 2025, Evaluating Robot Program Performance with Power Consumption\u2013Driven Metrics in Lightweight Industrial Robots. in 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, Proceedings - IEEE International Conference on Intelligent Robots and Systems, pp. 8918-8925, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 19/10/2025. https://doi.org/10.1109/IROS60139.2025.11246469","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334111","display_name":"Innovation Fund","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1999174548","https://openalex.org/W2026645865","https://openalex.org/W2415595313","https://openalex.org/W2604689113","https://openalex.org/W2891814107","https://openalex.org/W2895479851","https://openalex.org/W3034323821","https://openalex.org/W3108601338","https://openalex.org/W3121213480","https://openalex.org/W3174504682","https://openalex.org/W3180138828","https://openalex.org/W4200452682","https://openalex.org/W4237743539","https://openalex.org/W4385517069","https://openalex.org/W4386055564","https://openalex.org/W4389666988","https://openalex.org/W4391992394"],"related_works":[],"abstract_inverted_index":{"The":[0,130],"code":[1,18,147],"performance":[2,32,148,189],"of":[3,17,56,141,164],"industrial":[4,194],"robots":[5],"is":[6,88,110],"typically":[7],"analyzed":[8],"through":[9,112,153,180],"CPU":[10],"metrics,":[11,58,95],"which":[12],"overlook":[13],"the":[14,39,60,67,75,96,142,160],"physical":[15,151],"impact":[16],"on":[19],"robot":[20,30,98,138,172,188],"behavior.":[21],"This":[22],"study":[23,116],"introduces":[24],"a":[25,54,127],"novel":[26],"framework":[27],"for":[28,170],"assessing":[29],"program":[31],"from":[33,47],"an":[34,113],"embodiment":[35],"perspective":[36],"by":[37,145],"analyzing":[38],"robot\u2019s":[40],"electrical":[41],"power":[42,154],"profile.":[43],"Our":[44,108,157],"approach":[45,109,183],"diverges":[46],"conventional":[48],"CPU-based":[49],"evaluations":[50],"and":[51,74,85,135,162,178,200],"instead":[52],"leverages":[53],"suite":[55],"normalized":[57],"namely,":[59],"energy":[61,68,87,176],"utilization":[62],"coefficient":[63,77],"(f<inf":[64,71,78],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[65,72,79],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">U</inf>),":[66],"conversion":[69],"metric":[70,100],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">C</inf>),":[73],"reliability":[76,179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">R</inf>),":[80],"to":[81,149],"capture":[82],"how":[83],"efficiently":[84],"reliably":[86],"used":[89],"during":[90],"task":[91],"execution.":[92],"Complementing":[93],"these":[94],"established":[97],"wear":[99],"(\u03b1)":[101],"provides":[102],"further":[103],"insight":[104],"into":[105],"long-term":[106],"reliability.":[107],"demonstrated":[111],"experimental":[114],"case":[115],"in":[117],"machine":[118],"tending,":[119],"comparing":[120],"four":[121],"programs":[122],"with":[123],"diverse":[124],"strategies":[125],"using":[126],"UR5e":[128],"robot.":[129],"proposed":[131],"metrics":[132],"directly":[133],"compare":[134],"categorize":[136],"different":[137],"programs,":[139],"regardless":[140],"specific":[143],"task,":[144],"linking":[146],"its":[150],"manifestation":[152],"consumption":[155],"patterns.":[156],"results":[158],"reveal":[159],"strengths":[161],"weaknesses":[163],"each":[165],"strategy,":[166],"offering":[167],"actionable":[168],"insights":[169],"optimizing":[171],"programming":[173],"practices.":[174],"Enhancing":[175],"efficiency":[177],"this":[181],"embodiment-centric":[182],"not":[184],"only":[185],"improves":[186],"individual":[187],"but":[190],"also":[191],"supports":[192],"broader":[193],"objectives":[195],"such":[196],"as":[197],"sustainable":[198],"manufacturing":[199],"cost":[201],"reduction.":[202]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}