A Hidden Semi-Markov Model with Duration-Dependent State Transition Probabilities for Prognostics

Table 6

Comparison of DD-HSMM versus HSMM.

Actual RUL	DD-HSMM model		HSMM model
	Predicted RUL	Error (%)	Predicted RUL	Error (%)
27.0000	26.4027	2.212	26.9852	0.0548
24.0000	23.6596	1.418		12.438
22.0000	22.0856	0.389		22.66
17.0000	17.6142	3.613	17.0734	0.437
15.0000	15.7246	4.831		13.829
12.0000	11.6945	2.546	10.5199	12.334
11.0000	10.0602	8.544		4.365
9.0000	9.1944	2.16		16.888
5.0000	5.1253	2.506	3.6104	27.792
3.0000	3.0122	0.407		20.347