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

Table 6

Prediction performance score comparison on the FEMTO dataset.

Dataset	Predicted RUL(s)	Authentic RUL(s)	Relative error (%)
			A [51]	B [52]	C [53]	D [54]	E [50]	ARIMA-R
Bearing1_3	3973	5730	43.28	37	−1.04	−0.35	1.05	30.66
Bearing1_4	247	339	67.55	80	−20.94	5.6	20.35	27.14
Bearing1_5	1403	1610	−22.98	9	−278.26	100	11.18	12.85
Bearing1_6	1459	1460	21.23	−5	19.18	28.08	34.93	0.05
Bearing1_7	7338	7570	17.83	−2	−7.13	−19.55	29.19	3.07
Bearing2_3	4361	7530	37.84	64	10.49	−20.19	57.24	42.08
Bearing2_4	1302	1390	−19.42	10	51.8	8.63	−1.44	6.37
Bearing2_5	333	3090	54.37	−440	28.8	23.3	−0.65	89.23
Bearing2_6	822	1290	−13.95	49	−20.93	58.91	−42.64	36.30
Bearing2_7	349	580	−55.17	−317	44.83	5.17	8.62	39.86
Bearing3_3	589	820	3.66	90	−3.66	40.24	−1.22	28.17
Score	-	-	0.263	0.307	0.355	0.429	0.569	0.479