{"id":"https://openalex.org/W4416183119","doi":"https://doi.org/10.1109/tsmc.2025.3625566","title":"Prognostic Framework for Robotic Manipulators Operating Under Dynamic Task Severities","display_name":"Prognostic Framework for Robotic Manipulators Operating Under Dynamic Task Severities","publication_year":2025,"publication_date":"2025-11-11","ids":{"openalex":"https://openalex.org/W4416183119","doi":"https://doi.org/10.1109/tsmc.2025.3625566"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3625566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3625566","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","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/A5016965533","display_name":"Ayush Mohanty","orcid":"https://orcid.org/0009-0002-5971-6233"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayush Mohanty","raw_affiliation_strings":["School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0009-0002-5971-6233","affiliations":[{"raw_affiliation_string":"School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042461352","display_name":"Jason Dekarske","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Dekarske","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109330613","display_name":"Stephen K. Robinson","orcid":null},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen K. Robinson","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060432323","display_name":"Sanjay S. Joshi","orcid":"https://orcid.org/0000-0002-4352-2955"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjay Joshi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4352-2955","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA, USA","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054372641","display_name":"Nagi Gebraeel","orcid":"https://orcid.org/0000-0001-7337-2401"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nagi Gebraeel","raw_affiliation_strings":["School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7337-2401","affiliations":[{"raw_affiliation_string":"School of Industrial and Systems Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41515572,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"1","first_page":"443","last_page":"457"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.2919999957084656,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11701","display_name":"Space Satellite Systems and Control","score":0.2919999957084656,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.09969999641180038,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.040699999779462814,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/prognostics","display_name":"Prognostics","score":0.626800000667572},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6261000037193298},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5313000082969666},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5074999928474426},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49939998984336853},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4691999852657318},{"id":"https://openalex.org/keywords/particle-filter","display_name":"Particle filter","score":0.4366999864578247},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42399999499320984},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.4041999876499176}],"concepts":[{"id":"https://openalex.org/C129364497","wikidata":"https://www.wikidata.org/wiki/Q3042561","display_name":"Prognostics","level":2,"score":0.626800000667572},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6261000037193298},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5867000222206116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5313000082969666},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5074999928474426},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49939998984336853},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4691999852657318},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.4366999864578247},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42399999499320984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4223000109195709},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.4041999876499176},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.39419999718666077},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3921000063419342},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38119998574256897},{"id":"https://openalex.org/C112401455","wikidata":"https://www.wikidata.org/wiki/Q178036","display_name":"Brownian motion","level":2,"score":0.3727000057697296},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.36059999465942383},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.34630000591278076},{"id":"https://openalex.org/C8272713","wikidata":"https://www.wikidata.org/wiki/Q176737","display_name":"Stochastic process","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.3019999861717224},{"id":"https://openalex.org/C111350023","wikidata":"https://www.wikidata.org/wiki/Q1191869","display_name":"Markov chain Monte Carlo","level":3,"score":0.29980000853538513},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2994000017642975},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29190000891685486},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29030001163482666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2896000146865845},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2615000009536743},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.258899986743927}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3625566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3625566","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1257062516","display_name":null,"funder_award_id":"80NSSC19K1052","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W649673299","https://openalex.org/W1604520938","https://openalex.org/W1983782700","https://openalex.org/W2002079422","https://openalex.org/W2002515014","https://openalex.org/W2049169212","https://openalex.org/W2051406062","https://openalex.org/W2051959027","https://openalex.org/W2055537185","https://openalex.org/W2059503552","https://openalex.org/W2060965436","https://openalex.org/W2065128376","https://openalex.org/W2082756680","https://openalex.org/W2086514731","https://openalex.org/W2097951398","https://openalex.org/W2110007571","https://openalex.org/W2112377173","https://openalex.org/W2112474089","https://openalex.org/W2115555060","https://openalex.org/W2151017405","https://openalex.org/W2612904117","https://openalex.org/W2803266007","https://openalex.org/W2943594583","https://openalex.org/W2974831040","https://openalex.org/W2980476806","https://openalex.org/W3045888475","https://openalex.org/W3092143212","https://openalex.org/W3097031590","https://openalex.org/W3159184215","https://openalex.org/W3159460379","https://openalex.org/W3174398729","https://openalex.org/W3206104333","https://openalex.org/W4236436293","https://openalex.org/W4399469378"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"manipulators":[1],"are":[2,8],"critical":[3],"in":[4,49,146,181],"many":[5],"applications":[6],"but":[7],"known":[9],"to":[10],"degrade":[11],"over":[12],"time.":[13],"This":[14],"degradation":[15,40,45],"is":[16,46,48,101,112],"influenced":[17,102],"by":[18,25,103],"the":[19,22,26,39,50,54,78,86,133,152],"nature":[20,108],"of":[21,53,80,109,192],"tasks":[23],"performed":[24],"robot.":[27],"Tasks":[28],"with":[29,95],"higher":[30,190],"severity,":[31],"such":[32],"as":[33,90],"handling":[34,188],"heavy":[35],"payloads,":[36],"can":[37],"accelerate":[38],"process.":[41],"One":[42],"way":[43],"this":[44,58],"reflected":[47],"position":[51,88],"accuracy":[52,89],"robot\u2019s":[55,87],"end-effector.":[56],"In":[57],"article,":[59],"we":[60,123],"present":[61],"a":[62,68,91,96,115,128,189],"prognostic":[63],"modeling":[64],"framework":[65,84,162],"that":[66,100,179],"predicts":[67],"robotic":[69],"manipulator\u2019s":[70],"remaining":[71],"useful":[72],"life":[73,135],"(RUL)":[74],"while":[75],"accounting":[76],"for":[77,132,170],"effects":[79],"task":[81,104,110],"severity.":[82,105],"Our":[83,176],"represents":[85],"Brownian":[92],"motion":[93],"process":[94],"random":[97],"drift":[98],"parameter":[99],"The":[106],"dynamic":[107],"severity":[111],"modeled":[113],"using":[114,165],"continuous-time":[116],"Markov":[117],"chain":[118],"(CTMC).":[119],"To":[120],"evaluate":[121],"RUL,":[122],"discuss":[124],"two":[125,166],"approaches:":[126],"1)":[127],"novel":[129],"closed-form":[130],"expression":[131],"residual":[134],"distribution":[136],"(RLD)":[137],"and":[138,172],"2)":[139],"Monte":[140],"Carlo":[141],"(MC)":[142],"simulations,":[143],"commonly":[144],"used":[145],"prognostics":[147],"literature.":[148],"Theoretical":[149],"results":[150],"establish":[151],"equivalence":[153],"between":[154],"these":[155],"RUL":[156,186],"computation":[157],"approaches.":[158],"We":[159],"validate":[160],"our":[161],"through":[163],"experiments":[164],"distinct":[167],"physics-based":[168],"simulators":[169],"planar":[171],"spatial":[173],"robot":[174],"fleets.":[175],"findings":[177],"show":[178],"robots":[180],"both":[182],"fleets":[183],"experience":[184],"shorter":[185],"when":[187],"proportion":[191],"high-severity":[193],"tasks.":[194]},"counts_by_year":[],"updated_date":"2025-12-19T00:32:22.182498","created_date":"2025-11-11T00:00:00"}