# In-situ fault diagnosis for the harmonic reducer of industrial robots via multi-scale mixed convolutional neural networks

> Research article (Journal of Manufacturing Systems, 2022) · cited 78× · AI/ML

**Wikidata**: [openalex:W4313367665](https://www.wikidata.org/wiki/openalex:W4313367665)  
**Source**: https://4ort.xyz/entity/in-situ-fault-diagnosis-for-the-harmonic-reducer-of-industrial-robots-via-multi-scale-mixed-convolutional-neural-network