{"id":"https://openalex.org/W3091770126","doi":"https://doi.org/10.1109/case48305.2020.9217025","title":"Robot Health Estimation through Unsupervised Anomaly Detection using Gaussian Mixture Models","display_name":"Robot Health Estimation through Unsupervised Anomaly Detection using Gaussian Mixture Models","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3091770126","doi":"https://doi.org/10.1109/case48305.2020.9217025","mag":"3091770126"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9217025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5056517421","display_name":"Tristan Schnell","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Schnell","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041035798","display_name":"C. Plasberg","orcid":"https://orcid.org/0000-0002-6428-2997"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Plasberg","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044854758","display_name":"Lennart Puck","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"L. Puck","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053896000","display_name":"Timoth\u00e9e Buettner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Buettner","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014468304","display_name":"Christian Eichmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Eichmann","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009997706","display_name":"Georg Heppner","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Heppner","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Roennau","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Interactive Diagnosis and Service Systems (IDS), FZI Research Center for Information Technology, Haid-und-Neu-Strae 10-14, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1915,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.79054166,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1037","last_page":"1042"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10876","display_name":"Fault Detection and Control Systems","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9957000017166138,"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/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8593548536300659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6464216113090515},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.6235201358795166},{"id":"https://openalex.org/keywords/notice","display_name":"Notice","score":0.6043931841850281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5313851237297058},{"id":"https://openalex.org/keywords/damages","display_name":"Damages","score":0.41650527715682983},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.4121084213256836},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33801591396331787}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8593548536300659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6464216113090515},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.6235201358795166},{"id":"https://openalex.org/C2779913896","wikidata":"https://www.wikidata.org/wiki/Q7063001","display_name":"Notice","level":2,"score":0.6043931841850281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5313851237297058},{"id":"https://openalex.org/C2777381055","wikidata":"https://www.wikidata.org/wiki/Q308922","display_name":"Damages","level":2,"score":0.41650527715682983},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.4121084213256836},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33801591396331787},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case48305.2020.9217025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9217025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1543744","https://openalex.org/W148034683","https://openalex.org/W1531078233","https://openalex.org/W2049633694","https://openalex.org/W2052391272","https://openalex.org/W2062363792","https://openalex.org/W2117018385","https://openalex.org/W2148922589","https://openalex.org/W2151378685","https://openalex.org/W2151608912","https://openalex.org/W2349539464","https://openalex.org/W2405150717","https://openalex.org/W2773549135","https://openalex.org/W2804227682","https://openalex.org/W2808548605","https://openalex.org/W2901136733","https://openalex.org/W2973779553","https://openalex.org/W6600051829","https://openalex.org/W6713593715","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W3018282762","https://openalex.org/W4205240985","https://openalex.org/W2558055997","https://openalex.org/W2314597598","https://openalex.org/W2791183434","https://openalex.org/W2353369313","https://openalex.org/W1527183021","https://openalex.org/W4235320026","https://openalex.org/W3124239800","https://openalex.org/W4250645680"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1,152,175],"in":[2,33,68,92,105],"complex":[3],"environments":[4],"are":[5,57],"usually":[6],"forced":[7],"to":[8,24,82,88,138,150,156],"act":[9],"very":[10],"conservatively,":[11],"greatly":[12],"limiting":[13],"their":[14,96],"potential.":[15],"Taking":[16],"more":[17],"risky":[18],"actions":[19],"confidently":[20],"requires":[21,120,153],"the":[22,49,51,55,60,70,84,106,163,189],"robot":[23,56,64,85,198],"have":[25],"a":[26,41,63,101,109,125,154,192],"deep":[27],"understanding":[28],"of":[29,54,62,108],"its":[30,34],"abilities,":[31],"especially":[32],"current":[35,46],"state.":[36],"The":[37,118],"foundation":[38,190],"for":[39,103,115,124,132,162,191,195],"such":[40],"self-awareness":[42],"is":[43,86,136],"knowledge":[44],"about":[45],"damages":[47,146],"and":[48,94,135,142,147,170,201],"stress":[50],"different":[52,165,174,180],"components":[53],"under.":[58],"While":[59],"skills":[61],"can":[65],"be":[66,78],"modeled":[67],"advance,":[69],"potential":[71],"errors":[72],"that":[73],"might":[74],"occur":[75],"cannot":[76],"easily":[77],"predicted":[79],"exhaustively.":[80],"Due":[81],"this,":[83],"required":[87],"notice":[89],"unforeseen":[90],"changes":[91],"itself":[93],"judge":[95],"severity.":[97],"This":[98,186],"work":[99],"presents":[100],"solution":[102],"this":[104],"form":[107],"Gaussian":[110],"Mixture":[111],"Model":[112],"based":[113],"framework":[114,194],"anomaly":[116],"detection.":[117],"model":[119],"only":[121,157],"training":[122],"data":[123,161],"healthy":[126],"robot,":[127],"with":[128,179],"no":[129,177],"samples":[130],"needed":[131],"expected":[133],"problems":[134,181],"able":[137],"correctly":[139],"notice,":[140],"localize":[141],"quantity":[143],"various":[144],"introduced":[145,182],"impairments.":[148],"Transfer":[149],"new":[151],"user":[155],"specify":[158],"available":[159],"sensor":[160],"robot's":[164],"components.":[166],"It":[167],"was":[168],"implemented":[169],"tested":[171],"on":[172],"two":[173],"sharing":[176],"hardware,":[178],"into":[183],"both":[184],"systems.":[185],"approach":[187],"lays":[188],"general":[193],"adaptive":[196],"self-aware":[197],"decision":[199],"making":[200],"planning.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}