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We compare the technique against both an ordinary averaging numerical differentiator and a conventional Kalman filter, over a set of real samples recorded from the inertial unit.Bearing spall detection and predicting its size are great challenges. Model-based simulation is a well-known traditional approach to physically model the influence of the spall on the bearing. Building a physical model is challenging due to the bearing complexity and the expert knowledge required to build such a model. Obviously, building a partial physical model
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