Anomaly Detection

Piece-wise multivatiate polynomial-based residual generator

Tight residual leads to better anomaly detection. (a) low precision model. (b) high precision model.

Piewe-wise multivariate polynomial is used to design a tight residual generator that outperforms state of the art DNN.

Comparison of the residual size on a 4-axis Staubli robot.

Example of anomaly detection and localization (here on axis 1)

For more details, refer to the [paper].