I. Introduction
Bearing is a critical and easily damaged part of rotating machinery. Reducing its failure frequency can maximize productivity and economic benefits [1], [2]. Therefore, it is of great significance to develop the automatic detection technique of bearing faults. The repetitive impact is a typical symptom of bearing failure. Therefore, the extraction of repetitive impacts is the key to bearing fault detection. However, the repetitive impacts caused by bearing failure are often weak and difficult to extract [3], [4]. In order to solve this problem, numerous analysis methods, including wavelet transform [5], empirical mode decomposition (EMD) [6], empirical wavelet transform (EWT) [7], variational mode decomposition (VMD) [8], fast kurtogram (FK) [9], deconvolution methods [10], [11], and sparse representation (SR) [12], [13], have been widely developed in bearing fault detection and have shown remarkable performance. In recent years, with the rapid development of artificial intelligence technology, a large number of machine learning technologies have been introduced into bearing fault diagnosis [14]. Machine learning technology has a strong feature learning ability and can deal with bearing fault diagnosis tasks of variable speed and variable load [15]. Machine learning algorithms rely heavily on sample size, which makes it difficult to adapt to fault diagnosis tasks in most industrial scenarios.