{"id":"https://openalex.org/W4286361351","doi":"https://doi.org/10.1109/lra.2022.3192612","title":"Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions","display_name":"Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions","publication_year":2022,"publication_date":"2022-07-20","ids":{"openalex":"https://openalex.org/W4286361351","doi":"https://doi.org/10.1109/lra.2022.3192612"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3192612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3192612","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5045135612","display_name":"Aniketh Ramesh","orcid":"https://orcid.org/0000-0002-0469-0024"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Aniketh Ramesh","raw_affiliation_strings":["Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0469-0024","affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052202451","display_name":"Manolis Chiou","orcid":"https://orcid.org/0000-0002-9779-4067"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Manolis Chiou","raw_affiliation_strings":["Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9779-4067","affiliations":[{"raw_affiliation_string":"Extreme Robotics Lab (ERL), University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":3.5683,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.93758759,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"10729","last_page":"10736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T13248","display_name":"Healthcare Technology and Patient Monitoring","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.978600025177002,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8097398281097412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6898967623710632},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6595284938812256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5113899111747742},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45953109860420227},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4341939687728882},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.4322826862335205},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4298633337020874},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42900484800338745},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4202459156513214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14243271946907043}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8097398281097412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6898967623710632},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6595284938812256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5113899111747742},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45953109860420227},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4341939687728882},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.4322826862335205},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4298633337020874},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42900484800338745},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4202459156513214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14243271946907043},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3192612","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3192612","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2518717205","display_name":null,"funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W54491458","https://openalex.org/W1450512659","https://openalex.org/W1634371418","https://openalex.org/W1857847001","https://openalex.org/W1965612527","https://openalex.org/W1972267259","https://openalex.org/W1990300548","https://openalex.org/W2061957606","https://openalex.org/W2062644434","https://openalex.org/W2067098972","https://openalex.org/W2075787693","https://openalex.org/W2125240024","https://openalex.org/W2133701212","https://openalex.org/W2134911466","https://openalex.org/W2143937365","https://openalex.org/W2238200733","https://openalex.org/W2248464603","https://openalex.org/W2267863633","https://openalex.org/W2328205791","https://openalex.org/W2564807741","https://openalex.org/W2783230551","https://openalex.org/W2808048733","https://openalex.org/W2885261226","https://openalex.org/W2945806301","https://openalex.org/W3135575787","https://openalex.org/W3198384955","https://openalex.org/W6636723403"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"This":[0],"letter":[1],"addresses":[2],"the":[3,83,152],"problem":[4],"of":[5,27,85,99,106,108,137,166],"automatically":[6],"detecting":[7],"and":[8,29,44,60,144,156],"quantifying":[9],"performance":[10,47,109,138,168],"degradation":[11,110,169],"in":[12,16,71,79,119,142],"remote":[13,65],"mobile":[14,148],"robots,":[15],"real-time,":[17],"during":[18,31,170],"task":[19,32],"execution.":[20],"A":[21,93],"robot":[22,114,129,154,157,167],"may":[23],"encounter":[24],"a":[25,64,97,104,113,124,132,146],"variety":[26,105],"uncertainties":[28],"adversities":[30],"execution,":[33],"which":[34],"can":[35,52,159],"impair":[36],"its":[37,46],"ability":[38],"to":[39,48],"carry":[40],"out":[41],"tasks":[42],"effectively":[43,162],"cause":[45],"degrade.":[49],"Such":[50],"situations":[51],"be":[53,160],"mitigated":[54],"or":[55],"averted":[56],"by":[57,63,75,112],"timely":[58],"detection":[59],"intervention,":[61],"e.g.,":[62],"human":[66],"supervisor":[67],"taking":[68],"over":[69],"control":[70],"teleoperation":[72],"mode.":[73],"Inspired":[74],"patient":[76],"triaging":[77],"systems":[78],"hospitals,":[80],"we":[81],"introduce":[82],"framework":[84],"\u201crobot":[86,91],"vitals\u201d":[87],"for":[88,163],"estimating":[89],"overall":[90],"health\u201d.":[92],"robot's":[94],"vitals":[95,130,155],"are":[96],"set":[98],"lower-level":[100],"metrics":[101],"that":[102,127,151],"estimate":[103,136],"indicators":[107],"faced":[111],"at":[115],"any":[116],"given":[117],"point":[118],"time.":[120],"Robot":[121],"health":[122,158],"is":[123],"higher-level":[125],"metric":[126],"combines":[128],"into":[131],"single":[133],"scalar":[134],"value":[135],"degradation.":[139],"Experiments,":[140],"both":[141],"simulation":[143],"on":[145],"real":[147],"robot,":[149],"demonstrate":[150],"proposed":[153],"used":[161],"online":[164],"estimation":[165],"run-time.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-12T21:12:35.861297","created_date":"2025-10-10T00:00:00"}
