An Improved Recursive ARIMA Method with Recurrent Process for Remaining Useful Life Estimation of Bearings

Table 4

Single-step prediction of ARIMA-R and ARNN.

Algorithm	R	1_6		1_4		3_3
		MSE	MAE	MSE	MAE	MSE	MAE
ARNN		3.58	53.30	3.58	53.30	2.57	45.08
ARIMA	1	1.60	30.15	3.91	55.23	1.32	23.49
ARIMA	2	1.54	26.04	5.21	46.48	2.57	30.91