Multisensor Prognostic of RUL Based on EMD-ESN

Table 3

Prediction comparison on C-MAPSS data set. The IMP over LSTM represents an improvement of EMD-ESN over LSTM (), while the IMP over ESN represents improvement of EMD-ESN over ESN ().

Data set	FD001		FD002		FD003		FD004
	Score	RMSE	Score	RMSE	Score	RMSE	Score	RMSE
LSTM [21]	338	16.14	4450	24.49	852	16.18	5550	28.17
ESN	359	13.92	748	13.33	4971	23.72	2912	16.88
EMD-ESN	184	10.63	293	8.85	299	11.54	525	9.87
IMP over LSTM (%)	45.56	34.14	93.41	63.86	64.91	28.68	90.54	64.96
IMP over ESN (%)	48.75	23.64	60.83	33.61	93.99	51.35	81.97	41.53