Table 6. Summary of AUC for the various preprocessing methods and loss functions in the Table 6. Summary of AUC for the various preprocessing methods and loss functions in the autoencoder – decoder neural network on the sound data of the pump ID: 06 at SNR of − 6 dB. KF — autoencoder–decoder neural network on the sound data of the pump ID: 06 at SNR of − 6 dB. Kalman Filter. UKF — Unscented Kalman Filter. MSE — mean square error.