{"id":"https://openalex.org/W4417199055","doi":"https://doi.org/10.3390/a18120779","title":"A Hybrid Deep Learning Framework for Enhanced Fault Diagnosis in Industrial Robots","display_name":"A Hybrid Deep Learning Framework for Enhanced Fault Diagnosis in Industrial Robots","publication_year":2025,"publication_date":"2025-12-10","ids":{"openalex":"https://openalex.org/W4417199055","doi":"https://doi.org/10.3390/a18120779"},"language":"en","primary_location":{"id":"doi:10.3390/a18120779","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18120779","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/a18120779","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101435021","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-8657-5475"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]},{"raw_affiliation_string":"School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014426613","display_name":"Yue-Peng Zhang","orcid":"https://orcid.org/0000-0001-9178-1372"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuepeng Zhang","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]},{"raw_affiliation_string":"School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004012174","display_name":"Bo Gao","orcid":"https://orcid.org/0000-0002-8750-0547"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Gao","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]},{"raw_affiliation_string":"School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112328178","display_name":"Linzhong Xia","orcid":"https://orcid.org/0009-0006-4132-5954"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linzhong Xia","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]},{"raw_affiliation_string":"School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049482116","display_name":"Xueli Zhu","orcid":"https://orcid.org/0000-0002-7624-5165"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueli Zhu","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]},{"raw_affiliation_string":"School of Sino-German Robotics, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I4210152380","https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100779741","display_name":"Hui Wang","orcid":"https://orcid.org/0000-0002-4910-7824"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wang","raw_affiliation_strings":["Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China"],"affiliations":[{"raw_affiliation_string":"Inovance Industrial Robot Reliability Technology Research Institute, Shenzhen University of Information Technology, Shenzhen 518172, China","institution_ids":["https://openalex.org/I158809036"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091850244","display_name":"Xiongbo Wan","orcid":"https://orcid.org/0000-0002-3018-9751"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiongbo Wan","raw_affiliation_strings":["School of Automation, China University of Geosciences, Wuhan 430074, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, China University of Geosciences, Wuhan 430074, China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5014426613"],"corresponding_institution_ids":["https://openalex.org/I158809036","https://openalex.org/I4210104064","https://openalex.org/I4210152380"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51543414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"12","first_page":"779","last_page":"779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10220","display_name":"Machine Fault Diagnosis Techniques","score":0.9842000007629395,"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/T10220","display_name":"Machine Fault Diagnosis Techniques","score":0.9842000007629395,"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":0.00279999990016222,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.002199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.699999988079071},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.59579998254776},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5799999833106995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5246000289916992},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.477400004863739},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.44679999351501465},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4438999891281128},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.423799991607666},{"id":"https://openalex.org/keywords/preprocessor","display_name":"Preprocessor","score":0.4180000126361847}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7031999826431274},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.699999988079071},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6363000273704529},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.59579998254776},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5799999833106995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5246000289916992},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49390000104904175},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.477400004863739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.44679999351501465},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4438999891281128},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.423799991607666},{"id":"https://openalex.org/C34736171","wikidata":"https://www.wikidata.org/wiki/Q918333","display_name":"Preprocessor","level":2,"score":0.4180000126361847},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.34689998626708984},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33640000224113464},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3190999925136566},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C2780149590","wikidata":"https://www.wikidata.org/wiki/Q7302742","display_name":"Reconfigurability","level":2,"score":0.305400013923645},{"id":"https://openalex.org/C2775928411","wikidata":"https://www.wikidata.org/wiki/Q2041312","display_name":"Fault injection","level":3,"score":0.2978000044822693},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.29679998755455017},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.288100004196167},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.2761000096797943},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2637999951839447},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a18120779","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18120779","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:7e6de9c6136641599e778224bcbbd351","is_oa":true,"landing_page_url":"https://doaj.org/article/7e6de9c6136641599e778224bcbbd351","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 18, Iss 12, p 779 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a18120779","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a18120779","pdf_url":null,"source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W3024761859","https://openalex.org/W3105960288","https://openalex.org/W3126461618","https://openalex.org/W3174576536","https://openalex.org/W4200473862","https://openalex.org/W4206007767","https://openalex.org/W4206199419","https://openalex.org/W4213018270","https://openalex.org/W4281721340","https://openalex.org/W4282966754","https://openalex.org/W4283653434","https://openalex.org/W4297268555","https://openalex.org/W4313367665","https://openalex.org/W4313891600","https://openalex.org/W4321231443","https://openalex.org/W4362506827","https://openalex.org/W4366088422","https://openalex.org/W4385687477","https://openalex.org/W4386714925","https://openalex.org/W4388331032","https://openalex.org/W4392652657","https://openalex.org/W4392974287","https://openalex.org/W4398174014","https://openalex.org/W4398792294","https://openalex.org/W4399786410","https://openalex.org/W4400410093","https://openalex.org/W4402192457","https://openalex.org/W4407685395","https://openalex.org/W4415208820"],"related_works":[],"abstract_inverted_index":{"Predominant":[0],"fault":[1,38,109,126,161],"diagnosis":[2,39],"in":[3,181,219],"industrial":[4,42,63,107,121,205,231,286],"robots":[5,122],"depends":[6],"on":[7,87,229],"dedicated":[8,72],"vibration":[9],"or":[10],"acoustics":[11],"sensors.":[12],"However,":[13],"their":[14],"practical":[15,41,100],"deployment":[16,77,289],"is":[17,93],"often":[18],"limited":[19],"by":[20],"installation":[21],"constraints,":[22],"susceptibility":[23],"to":[24,35,191,215],"environmental":[25],"noise,":[26],"and":[27,99,105,139,158,177,186,207,222,261,266,277,284,288],"cost":[28],"considerations.":[29],"Applying":[30],"Energy-Based":[31],"Maintenance":[32],"(EBM)":[33],"principles":[34],"achieve":[36],"enhanced":[37,285],"under":[40,124],"conditions,":[43,268],"we":[44],"propose":[45],"a":[46,175,238,247],"hybrid":[47],"deep":[48],"learning":[49],"framework,":[50],"the":[51,68,88,96,168,193,269],"Multi-head":[52],"Graph":[53],"Attention":[54],"Network":[55],"(MGAT)":[56],"with":[57,279],"Multi-scale":[58],"CNNBiLSTM":[59,274],"Fusion":[60],"(MGAT-MCNNBiLSTM)":[61],"for":[62,70,102,196],"robots.":[64],"This":[65,152,244],"approach":[66],"obviates":[67],"need":[69],"additional":[71],"sensors,":[73],"effectively":[74],"mitigating":[75],"associated":[76],"complexities.":[78],"The":[79,164],"framework":[80],"embodies":[81],"four":[82],"core":[83],"innovations:":[84],"(1)":[85],"Based":[86],"EBM":[89],"paradigm,":[90],"motor":[91,115],"current":[92,116],"established":[94],"as":[95],"most":[97],"effective":[98],"choice":[101],"enabling":[103],"cost-efficient":[104],"scalable":[106],"robot":[108,232],"diagnosis.":[110],"A":[111,184],"corresponding":[112],"dataset":[113],"of":[114,170,242,251,282],"has":[117],"been":[118],"acquired":[119],"from":[120],"operating":[123],"diverse":[125],"scenarios.":[127],"(2)":[128],"An":[129],"integrated":[130],"MGAT-MCNNBiLSTM":[131,236],"architecture":[132],"that":[133,167,235],"synergistically":[134],"models":[135],"multiscale":[136],"local":[137],"features":[138],"complex":[140],"dynamics":[141],"through":[142],"its":[143],"MCNNBiLSTM":[144],"module":[145],"while":[146],"capturing":[147],"nonlinear":[148],"interdependencies":[149],"via":[150],"MGAT.":[151,262],"comprehensive":[153,185],"feature":[154],"representation":[155],"enables":[156],"robust":[157],"highly":[159],"accurate":[160],"detection.":[162],"(3)":[163],"study":[165],"found":[166],"application":[169],"spectral":[171],"preprocessing":[172],"techniques":[173],"yields":[174],"marked":[176],"statistically":[178],"significant":[179,248],"enhancement":[180],"diagnostic":[182,240],"performance.":[183],"systematic":[187],"analysis":[188],"was":[189,213],"undertaken":[190],"uncover":[192],"underlying":[194],"reasons":[195],"this":[197],"observed":[198],"performance":[199,245],"improvement.":[200],"(4)":[201],"To":[202],"emulate":[203],"challenging":[204,264],"settings":[206],"cost-sensitive":[208],"implementations,":[209],"noise":[210,265],"signal":[211],"injection":[212],"employed":[214],"evaluate":[216],"model":[217,271],"robustness":[218],"high-electromagnetic-interference":[220],"environments":[221],"low-cost,":[223],"low-resolution":[224,267],"ADC":[225],"implementations.":[226],"Experimental":[227],"validation":[228],"real-world":[230],"datasets":[233],"demonstrates":[234],"achieves":[237],"superior":[239],"accuracy":[241],"90.7560%.":[243],"marks":[246],"absolute":[249],"improvement":[250,281],"1.51\u20138.55%":[252],"over":[253],"competing":[254],"models,":[255],"including":[256],"LCNNBiLSTM,":[257],"SCNNBiLSTM,":[258],"MCCBiLSTM,":[259],"GAT,":[260,276],"Under":[263],"proposed":[270],"consistently":[272],"outperforms":[273],"variants,":[275],"MGAT":[278],"an":[280],"1.37\u201310.26%":[283],"utility":[287],"potential.":[290]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-12-10T00:00:00"}