{"data":{"id":"10.5281/zenodo.20576460","type":"dois","attributes":{"doi":"10.5281/zenodo.20576460","prefix":"10.5281","suffix":"zenodo.20576460","identifiers":[],"alternateIdentifiers":[],"creators":[{"name":"Fonseca, Hugo de Albuquerque","nameType":"Personal","givenName":"Hugo de Albuquerque","familyName":"Fonseca","affiliation":["University of Pernambuco, Recife, Brazil; Mekatronik Engenharia Ltda, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0000-0003-0026-9141","nameIdentifierScheme":"ORCID"}]},{"name":"Vilela Cintra, Pedro Estevão","nameType":"Personal","givenName":"Pedro Estevão","familyName":"Vilela Cintra","affiliation":["University of Pernambuco, Recife, Brazil; Mekatronik Engenharia Ltda, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0009-0008-4447-9048","nameIdentifierScheme":"ORCID"}]},{"name":"Andrade de Barros Santos, Emmanuel","nameType":"Personal","givenName":"Emmanuel","familyName":"Andrade de Barros Santos","affiliation":["University of Pernambuco, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0000-0002-1786-0934","nameIdentifierScheme":"ORCID"}]},{"name":"Rativa, Diego","nameType":"Personal","givenName":"Diego","familyName":"Rativa","affiliation":["University of Pernambuco, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0000-0002-5256-5279","nameIdentifierScheme":"ORCID"}]},{"name":"Maciel, Alexandre M. A.","nameType":"Personal","givenName":"Alexandre M. A.","familyName":"Maciel","affiliation":["University of Pernambuco, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0000-0003-4348-9291","nameIdentifierScheme":"ORCID"}]},{"name":"Mohamed, Mohamed A.","nameType":"Personal","givenName":"Mohamed A.","familyName":"Mohamed","affiliation":["College of Electrical Engineering and Automation, Fuzhou University, Fuzhou 350116, China"],"nameIdentifiers":[{"nameIdentifier":"0000-0001-8700-0270","nameIdentifierScheme":"ORCID"}]},{"name":"Annuk, Andres","nameType":"Personal","givenName":"Andres","familyName":"Annuk","affiliation":["Estonian University of Life Sciences, Tartu, Estonia"],"nameIdentifiers":[{"nameIdentifier":"0000-0001-5464-0415","nameIdentifierScheme":"ORCID"}]},{"name":"Leite, Dênis","nameType":"Personal","givenName":"Dênis","familyName":"Leite","affiliation":["University of Pernambuco, Recife, Brazil; Mekatronik Engenharia Ltda, Recife, Brazil"],"nameIdentifiers":[{"nameIdentifier":"0000-0002-0392-3279","nameIdentifierScheme":"ORCID"}]}],"titles":[{"title":"RT-FDD Datasets: Pick-and-Place and Electric Furnace Benchmarks for Real-Time Fault Detection and Diagnosis"}],"publisher":"Zenodo","container":{},"publicationYear":2026,"subjects":[{"subject":"Dataset"},{"subject":"Discrete-Event Systems"},{"subject":"Fault Detection"},{"subject":"Fault Diagnosis"},{"subject":"Intelligent Manufacturing Systems"},{"subject":"Machine Learning"},{"subject":"Smart Manufacturing"},{"subject":"Real-Time Fault Detection and Diagnosis"},{"subject":"RT-FDD"},{"subject":"Pick-and-Place"},{"subject":"Industrial Furnace"},{"subject":"Benchmark"}],"contributors":[],"dates":[{"date":"2026-06-07","dateType":"Issued"}],"language":null,"types":{"ris":"DATA","bibtex":"misc","citeproc":"dataset","schemaOrg":"Dataset","resourceType":"","resourceTypeGeneral":"Dataset"},"relatedIdentifiers":[{"relationType":"IsSupplementTo","relatedIdentifier":"https://github.com/mk-digital-solutions/rt-fdd-datasets/tree/v1.0.0","resourceTypeGeneral":"Software","relatedIdentifierType":"URL"},{"relationType":"HasVersion","relatedIdentifier":"10.5281/zenodo.20576461","relatedIdentifierType":"DOI"}],"relatedItems":[],"sizes":[],"formats":[],"version":"v1.0.0","rightsList":[{"rights":"Creative Commons Attribution 4.0 International","rightsUri":"https://creativecommons.org/licenses/by/4.0/legalcode","schemeUri":"https://spdx.org/licenses/","rightsIdentifier":"cc-by-4.0","rightsIdentifierScheme":"SPDX"}],"descriptions":[{"description":"Four benchmark datasets for Real-Time Fault Detection and Diagnosis (RT-FDD) research on discrete manufacturing machines. Each machine (Pick-and-Place and Electric Furnace) is provided in two versions: an Original Dataset (OD) with deterministic fault conditions and an Aleatory Simulated Dataset (ASD) with bounded variability emulating realistic industrial uncertainty. Data was logged from a closed-loop real-time simulation running on a SoftPLC stack (Modbus TCP + OPC UA), organised per operating cycle, preserving event timing, execution order, and continuous sensor behaviour.\nAll four CSVs use Unix epoch milliseconds (UTC) in the timestamp column. See the README for the column reference and the accompanying article for full methodology.","descriptionType":"Abstract"}],"geoLocations":[],"fundingReferences":[],"xml":"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