{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T17:44:56Z","timestamp":1782841496690,"version":"3.54.5"},"reference-count":0,"publisher":"ECMS","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,6,23]]},"abstract":"<jats:p>In this paper, we propose an integrated simulation framework for a mobile robot to analyze the dependencies among system components, particularly electrical power and battery models, rather than treating them independently. The framework captures the joint effects of mechanical power, computational power, and computational load offloading on total energy consumption and long-term battery health. It models mechanical, computational, and communication energy while accounting for their dependencies. As a case study, we apply the holistic framework to an energy-aware mission planning problem in which the robot travels to a target location and returns to its starting point. Along the planned path, computational tasks may be offloaded to base stations (BSs) when communication coverage is available. Because the robot operates on battery power, energy efficiency directly influences routing decisions and battery aging. The spatial distribution of BSs affects offloading opportunities, motion planning, resource allocation, and overall energy consumption, ultimately impacting battery degradation. Results from the case study demonstrate that the proposed integration of computational, mechanical, and communication energy models into routing optimization reduces total energy consumption by approximately 13% and battery degradation by 24% compared to approaches that optimize only mechanical and computational energy without considering load offloading.<\/jats:p>","DOI":"10.7148\/2026-0510","type":"proceedings-article","created":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T16:55:14Z","timestamp":1782838514000},"page":"510-518","source":"Crossref","is-referenced-by-count":0,"title":["Integrated modeling and simulation of mechanical, computational, communication, and battery in robots"],"prefix":"10.7148","author":[{"given":"Hadis","family":"Mohammadi Kamizji","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Eero","family":"Immonen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juha","family":"Plosila","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hashem","family":"Haghbayan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"4144","published-online":{"date-parts":[[2026,6,23]]},"event":{"name":"40th ECMS International Conference on Modelling and Simulation"},"container-title":["ECMS 2026 Proceedings edited by Filippo Sanfilippo, Florenc Demrozi, Fabio Sgarbossa, Mohammad Poursina"],"original-title":[],"deposited":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T16:55:19Z","timestamp":1782838519000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.scs-europe.net\/dlib\/2026\/ecms2026acceptedpapers\/0510_simo_ecms2026_0030.pdf"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,23]]},"references-count":0,"URL":"https:\/\/doi.org\/10.7148\/2026-0510","relation":{},"subject":[],"published":{"date-parts":[[2026,6,23]]}}}