I. Introduction
Rotating machinery is widely utilized in modern industries and has been more automatic, precise and efficient. Once faults exist, the machinery has to stop operating, which finally leads to serious economic losses. Therefore, fault diagnosis methods are studied to recognize faults, provide advice of machinery maintenance and ensure the operation reliability of machinery. Nowadays, mechanical big data are collected by multiple sensors after the long-time operation of machinery, which pushes the fault diagnosis into the big data era.