{"id":"https://openalex.org/W4385517069","doi":"https://doi.org/10.1109/lra.2023.3301311","title":"ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots","display_name":"ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots","publication_year":2023,"publication_date":"2023-08-03","ids":{"openalex":"https://openalex.org/W4385517069","doi":"https://doi.org/10.1109/lra.2023.3301311"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3301311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":true,"oa_status":"green","oa_url":"https://findresearcher.sdu.dk/ws/files/237272885/23_0287_02_MS_1_.pdf","any_repository_has_fulltext":true},"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":["Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-6024-0485","affiliations":[{"raw_affiliation_string":"Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029395094","display_name":"Robin Jeanne Kirschner","orcid":"https://orcid.org/0000-0002-6067-4360"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robin Jeanne Kirschner","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6067-4360","affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081412118","display_name":"Christian Schlette","orcid":"https://orcid.org/0000-0003-1676-4374"},"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":"Christian Schlette","raw_affiliation_strings":["Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0003-1676-4374","affiliations":[{"raw_affiliation_string":"Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Saeed Abdolshah","orcid":"https://orcid.org/0000-0003-0077-5757"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Saeed Abdolshah","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0077-5757","affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7696-4955","affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109627859","display_name":"Mikkel Baun Kj\u00e6gaard","orcid":null},"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\u00e6gaard","raw_affiliation_strings":["Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark"],"raw_orcid":"https://orcid.org/0000-0001-5124-744X","affiliations":[{"raw_affiliation_string":"Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I184886455","https://openalex.org/I177969490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"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":3.9477,"has_fulltext":true,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9366747,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"8","issue":"10","first_page":"6107","last_page":"6114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11741","display_name":"Flexible and Reconfigurable Manufacturing Systems","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10763","display_name":"Digital Transformation in Industry","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.775898814201355},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.7270715832710266},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7160966396331787},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.7014063596725464},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6416671276092529},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.5269292593002319},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.499147891998291},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4755361080169678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4228602349758148},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4053034782409668},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3359622359275818},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1648803949356079},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14333128929138184}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.775898814201355},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.7270715832710266},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7160966396331787},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.7014063596725464},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6416671276092529},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.5269292593002319},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.499147891998291},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4755361080169678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4228602349758148},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4053034782409668},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3359622359275818},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1648803949356079},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14333128929138184}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2023.3301311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3301311","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"},{"id":"pmh:oai:sdu.dk:openaire_cris_publications/919bca2b-f2fa-417c-8f79-4764367a7c20","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/919bca2b-f2fa-417c-8f79-4764367a7c20","pdf_url":"https://findresearcher.sdu.dk/ws/files/237272885/23_0287_02_MS_1_.pdf","source":{"id":"https://openalex.org/S4306400424","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Heredia, J, Kirschner, R J, Schlette, C, Abdolshah, S, Haddadin, S & Kj\u00e6rgaard, M B 2023, 'ECDP : Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots', IEEE Robotics and Automation Letters, vol. 8, no. 10, pp. 6107-6114. https://doi.org/10.1109/LRA.2023.3301311","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1725181","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1725181","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:sdu.dk:openaire_cris_publications/919bca2b-f2fa-417c-8f79-4764367a7c20","is_oa":true,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/919bca2b-f2fa-417c-8f79-4764367a7c20","pdf_url":"https://findresearcher.sdu.dk/ws/files/237272885/23_0287_02_MS_1_.pdf","source":{"id":"https://openalex.org/S4306400424","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Heredia, J, Kirschner, R J, Schlette, C, Abdolshah, S, Haddadin, S & Kj\u00e6rgaard, M B 2023, 'ECDP : Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots', IEEE Robotics and Automation Letters, vol. 8, no. 10, pp. 6107-6114. https://doi.org/10.1109/LRA.2023.3301311","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385517069.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1508184035","https://openalex.org/W1812879845","https://openalex.org/W2011911028","https://openalex.org/W2034150159","https://openalex.org/W2086544617","https://openalex.org/W2093317237","https://openalex.org/W2102667749","https://openalex.org/W2111414790","https://openalex.org/W2136646676","https://openalex.org/W2141522820","https://openalex.org/W2290965037","https://openalex.org/W2294294776","https://openalex.org/W2741430785","https://openalex.org/W2801644499","https://openalex.org/W2890693829","https://openalex.org/W2909980903","https://openalex.org/W2980686936","https://openalex.org/W2984293231","https://openalex.org/W3017386143","https://openalex.org/W3090546543","https://openalex.org/W3180138828"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Limited":[0],"resources":[1],"and":[2,35,95,103,125,136,155,222],"resulting":[3],"energy":[4,15,25,60,83,98,128,141,166,188,228],"crises":[5],"occurring":[6],"all":[7],"over":[8],"the":[9,12,40,44,48,52,57,63,79,97,114,117,134,138,165,171,175,182,215],"world":[10],"highlight":[11],"importance":[13],"of":[14,27,47,59,81,100,116,140,164,174,199,214,218,227],"efficiency":[16],"in":[17,39,56,65],"technological":[18],"developments":[19],"such":[20],"as":[21],"robotic":[22],"manipulators.":[23],"Efficient":[24],"consumption":[26,46,142,189,217],"manipulators":[28,72],"is":[29,168],"necessary":[30],"to":[31,93,106,184,191],"make":[32],"them":[33],"affordable":[34],"spread":[36],"their":[37,187],"application":[38],"future":[41],"industry.":[42],"Previously,":[43],"power":[45,216],"robot":[49,71,82,130,176,195,201],"motion":[50,205],"was":[51],"main":[53],"factor":[54],"considered":[55],"evaluation":[58],"efficiency.":[61],"Lately,":[62],"paradigm":[64],"industrial":[66,108],"robotics":[67],"shifted":[68],"towards":[69,193],"lightweight":[70,107],"which":[73],"require":[74],"a":[75,90],"new":[76],"investigation":[77],"on":[78],"disaggregation":[80,209],"consumption.":[84,229],"In":[85],"this":[86,180],"paper,":[87],"we":[88],"propose":[89],"novel":[91],"pipeline":[92,135,210],"identify":[94],"disaggregate":[96],"use":[99],"mechatronic":[101,220],"devices":[102],"apply":[104],"it":[105],"robots.":[109],"The":[110,158],"proposed":[111],"method":[112],"allows":[113,211],"identification":[115],"electronic":[118,172,196],"components":[119,173],"consumption,":[120],"mechanical":[121,127],"losses,":[122,124],"electrical":[123],"required":[126],"for":[129],"motion.":[131],"We":[132],"evaluate":[133],"understand":[137],"distribution":[139,203],"using":[143],"four":[144],"different":[145],"manipulators,":[146],"namely,":[147],"Universal":[148],"Robot's":[149],"UR5e,":[150],"UR10e,":[151],"Franka":[152],"Emika's":[153],"FR3,":[154],"Kinova":[156],"Gen3.":[157],"experimental":[159],"results":[160],"show":[161],"that":[162],"most":[163],"(60\u201390%)":[167],"consumed":[169],"by":[170],"control":[177],"box.":[178],"Using":[179],"knowledge,":[181],"approaches":[183],"further":[185],"optimize":[186],"need":[190],"shift":[192],"efficient":[194,200],"design":[197],"instead":[198],"mass":[202],"or":[204],"control.":[206],"Finally,":[207],"our":[208],"an":[212],"understanding":[213],"any":[219],"device":[221],"thus":[223],"enables":[224],"deliberate":[225],"optimization":[226]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2025-10-10T00:00:00"}