Abstract
Bearings are one of the critical components in rotating machinery. Bearing failures can lead to equipment damage, reduced performance, and even major safety accidents. Therefore, improving the ability to diagnose bearing faults can help improve the availability, reliability, and safety of rotating machinery. However, the original vibration signals in rotating machinery often contain noise and irregularities, making it difficult for traditional vibration analysis to extract effective high-dimensional features. Inspired by the construction of spatio-temporal graphs and dual-branch graph networks, a bearing fault diagnosis method based on dual-branch spatio-temporal graph networks (DBSGN) is proposed. Firstly, the vibration signal is modeled based on spectrum theory and the spectrum analysis method to construct a spatio-temporal graph. Secondly, Laplace-based spectral decomposition is used to extract the feature vectors of samples in the spatio-temporal graph. Finally, we designed a dual-branch fusion network to train and verify the bearing data and adjusted the model’s learning of the bearing data through a dynamic attention mechanism. The experimental results on three benchmark datasets indicate that DBSGN outperforms traditional models in terms of stability and accuracy.
Similar content being viewed by others
Data availability
The datasets generated or analysed during the current study are not publicly available due [Protect the intellectual property rights and commercial interests of investors] but are available from the corresponding author on reasonable request.
References
Singh, V., Gangsar, P., Porwal, R. & Atulkar, A. Artificial intelligence application in fault diagnostics of rotating industrial machines: A state-of-the-art review. J. Intell. Manuf. 34(3), 931–960 (2023).
Nath, A. G., Udmale, S. S. & Singh, S. K. Role of artificial intelligence in rotor fault diagnosis: A comprehensive review. Artif. Intell. Rev. 54(4), 2609–2668 (2021).
Zhang, Q. & Deng, L. An intelligent fault diagnosis method of rolling bearings based on short-time Fourier transform and convolutional neural network. J. Fail. Anal. Prev. 23(2), 795–811 (2023).
Tao, H., Wang, P., Chen, Y., Stojanovic, V. & Yang, H. An unsupervised fault diagnosis method for rolling bearing using STFT and generative neural networks. J. Frankl. Inst. 357(11), 7286–7307 (2020).
Chegini, S. N., Bagheri, A. & Najafi, F. Application of a new EWT-based denoising technique in bearing fault diagnosis. Measurement 144, 275–297 (2019).
Li, L., Guo, A. & Chen, H. Feature extraction based on EWT with scale space threshold and improved MCKD for fault diagnosis. IEEE Access 9, 45407–45417 (2021).
Sun, Y., Li, S. & Wang, X. Bearing fault diagnosis based on EMD and improved Chebyshev distance in SDP image. Measurement 176, 109100 (2021).
Shah, A. K., Yadav, A. & Malik, H. EMD and ANN based intelligent model for bearing fault diagnosis. J. Intell. Fuzzy Syst. 35(5), 5391–5402 (2018).
Pang, B., Tang, G., Tian, T. & Zhou, C. Rolling bearing fault diagnosis based on an improved HTT transform. Sensors 18(4), 1203 (2018).
Chen, X., Zhang, B. & Gao, D. Bearing fault diagnosis base on multi-scale CNN and LSTM model. J. Intell. Manuf. 32(4), 971–987 (2021).
Sinitsin, V., Ibryaeva, O., Sakovskaya, V. & Eremeeva, V. Intelligent bearing fault diagnosis method combining mixed input and hybrid CNN-MLP model. Mech. Syst. Signal Process. 180, 109454 (2022).
Liu, H., Zhou, J., Zheng, Y., Jiang, W. & Zhang, Y. Fault diagnosis of rolling bearings with recurrent neural network-based autoencoders. ISA Trans. 77, 167–178 (2018).
Joung, B. G., Nath, C., Li, Z. & Sutherland, J. W. Bearing anomaly detection in an air compressor using an LSTM and RNN-based machine learning model. Int. J. Adv. Manuf. Technol. 134(7), 3519–3530 (2024).
Li, Y. et al. Graph optimization algorithm enhanced by dual-scale spectral features with contrastive learning for robust bearing fault diagnosis. Knowl. Based Syst. 315, 113275 (2025).
Chen, Y., Feng, G., Chen, H., Gou, L. & Wang, S. A machine learning-based interpretable fault diagnosis method for rolling bearings under unbalanced samples. Eng. Appl. Artif. Intell. 158, 111505 (2025).
Wan, S. et al. Transfer-learning-based bearing fault diagnosis between different machines: A multi-level adaptation network based on layered decoding and attention mechanism. Measurement 203, 111996 (2022).
Cui, B., Weng, Y. & Zhang, N. A feature extraction and machine learning framework for bearing fault diagnosis. Renew. Energy 191, 987–997 (2022).
Wang, H., Zheng, J. & Xiang, J. Online bearing fault diagnosis using numerical simulation models and machine learning classifications. Reliab. Eng. Syst. Saf. 234, 109142 (2023).
Habbouche, H., Amirat, Y., Benkedjouh, T. & Benbouzid, M. Bearing fault event-triggered diagnosis using a variational mode decomposition-based machine learning approach. IEEE Trans. Energy Convers. 37(1), 466–474 (2021).
Brusamarello, B., Da Silva, J. C. C., de Morais Sousa, K. & Guarneri, G. A. Bearing fault detection in three-phase induction motors using support vector machine and fiber Bragg grating. IEEE Sens. J. 23(5), 4413–4421 (2022).
Hoang, D. T. & Kang, H. J. A survey on deep learning based bearing fault diagnosis. Neurocomputing 335, 327–335 (2019).
Neupane, D. & Seok, J. Bearing fault detection and diagnosis using Case Western Reserve University dataset with deep learning approaches: A review. IEEE Access 8, 93155–93178 (2020).
Hatipoğlu, A., Süpürtülü, M. & Yılmaz, E. Enhanced fault classification in bearings: A multi-domain feature extraction approach with LSTM-attention and LASSO. Arab. J. Sci. Eng. 50(14), 10795–10812 (2025).
Rezazadeh, N., De Oliveira, M., Lamanna, G., Perfetto, D. & De Luca, A. WaveCORAL-DCCA: A scalable solution for rotor fault diagnosis across operational variabilities. Electronics 14(15), 3146 (2025).
Du, Y., Cao, Y., Wang, H. & Li, G. A rolling bearing fault diagnosis method combining MSSSA-VMD with the parallel network of GASF-CNN and BiLSTM. Lubricants 12(12), 452 (2024).
Li, Y., Gu, X. & Wei, Y. A deep learning-based method for bearing fault diagnosis with few-shot learning. Sensors 24(23), 7516 (2024).
Ma, Z. & Guo, H. Fault diagnosis of rolling bearing under complex working conditions based on time-frequency joint feature extraction-deep learning. J. Vibroeng. 26(7), 1635–1652 (2024).
Xie, Y., Zhang, L., Liu, H. & Hu, C. Imbalanced few-shot bearing fault diagnosis via hybrid enhanced VAE-WGAN and attention-guided WDCNN. Meas. Sci. Technol. 36(8), 086134 (2025).
Tong, Q. et al. A novel method for fault diagnosis of bearings with small and imbalanced data based on generative adversarial networks. Appl. Sci. 12(14), 7346 (2022).
Liu, Y., Jiang, H., Liu, C., Yang, W. & Sun, W. Data-augmented wavelet capsule generative adversarial network for rolling bearing fault diagnosis. Knowl. Based Syst. 252, 109439 (2022).
Liu, S., Jiang, H., Wu, Z. & Li, X. Data synthesis using deep feature enhanced generative adversarial networks for rolling bearing imbalanced fault diagnosis. Mech. Syst. Signal Process. 163, 108139 (2022).
Yang, C., Zhou, K. & Liu, J. SuperGraph: Spatial-temporal graph-based feature extraction for rotating machinery diagnosis. IEEE Trans. Ind. Electron. 69(4), 4167–4176 (2021).
Yu, Z., Zhang, C. & Deng, C. An improved GNN using dynamic graph embedding mechanism: A novel end-to-end framework for rolling bearing fault diagnosis under variable working conditions. Mech. Syst. Signal Process. 200, 110534 (2023).
Zhang, Z. & Wu, L. Graph neural network-based bearing fault diagnosis using Granger causality test. Expert Syst. Appl. 242, 122827 (2024).
Jiang, L., Li, X., Wu, L. & Li, Y. Bearing fault diagnosis method based on a multi-head graph attention network. Meas. Sci. Technol. 33(7), 075012 (2022).
Sun, S., Xia, X. & Zhou, H. Bearing fault diagnosis under time-varying speeds with limited samples using frequency temporal series graph and graph generative classified adversarial networks. Neurocomputing https://doi.org/10.1016/j.neucom.2025.130613 (2025).
Xiao, X., Li, C., Huang, J., Yu, T. & Wong, P. K. An improved graph convolutional networks for fault diagnosis of rolling bearing with limited labeled data. Meas. Sci. Technol. 34(12), 125109 (2023).
Rezazadeh, N. et al. Domain-adaptive graph attention semi-supervised network for temperature-resilient SHM of composite plates. Sensors 25(22), 6847 (2025).
Kipf, T. N. Semi-supervised classification with graph convolutional networks. arXiv preprint arXiv:1609.02907 (2016).
Hammond, D. K., Vandergheynst, P. & Gribonval, R. Wavelets on graphs via spectral graph theory. Appl. Comput. Harmon. Anal. 30(2), 129–150 (2011).
Defferrard, M., Bresson, X., & Vandergheynst, P. Convolutional neural networks on graphs with fast localized spectral filtering. In Proceedings of the 30th International Conference on Neural Information Processing Systems (NIPS’16) 3844–3852 (Curran Associates Inc., Red Hook, NY, USA, 2016).
Liao, J., Deng, Y., Xie, X. & Zhang, Z. Research on Chebyshev graph convolutional neural network modeling method for rotating equipment fault diagnosis under variable working conditions. Appl. Sci. 14(20), 9208 (2024).
Wu, Z., Long, Z., Luo, C., Wang, S. & Ma, X. DRL-GCNet: A deep reinforcement learning and graph convolutional network for harmonic drive fault diagnosis. IEEE Trans. Instrum. Meas. https://doi.org/10.1109/tim.2025.3547080 (2025).
CWRU, Case Western Reserve University Bearing Data Center Website, Cleveland, OH, USA. Available online: http://csegroups.case.edu/bearingdatacenter/home.
Lessmeier, C., Kimotho, J. K., Zimmer, D. & Sextro, W. Condition monitoring of bearing damage in electromechanical drive systems by using motor current signals of electric motors: A benchmark data set for data-driven classification. In PHM society European conference Vol. 3, No. 1 (2016).
Huang, H. & Baddour, N. Bearing vibration data collected under time-varying rotational speed conditions. Data Brief 21, 1745–1749 (2018).
Li, Z., Liu, F., Yang, W., Peng, S. & Zhou, J. A survey of convolutional neural networks: Analysis, applications, and prospects. IEEE Trans. Neural Netw. Learn. Syst. 33(12), 6999–7019 (2021).
Aburakhia, S. A., Myers, R. & Shami, A. A hybrid method for condition monitoring and fault diagnosis of rolling bearings with low system delay. IEEE Trans. Instrum. Meas. 71, 1–13 (2022).
Xu, Z., Tao, J., Hu, Y., Feng, H. & Ma, L. A WOA-SVMD and multi-scale CNN-transformer method for fault diagnosis of motor bearing. Meas. Control https://doi.org/10.1177/00202940241312665 (2025).
Ko, S. & Lee, S. Multi-patch time series transformer for robust bearing fault detection with varying noise. Appl. Sci. 15(3), 1257 (2025).
Yan, H., Tan, J., Luo, Y., Wang, S. & Wan, J. Multi-condition intelligent fault diagnosis based on tree-structured labels and hierarchical multi-granularity diagnostic network. Machines 12(12), 891 (2024).
Funding
This study supported by CHN Shenhua Energy Co.Ltd. Shendong Coal Branch No: E210100625.
Author information
Authors and Affiliations
Contributions
LI Yang conducted literature research; WANG Yajun and LI Yang provided the subject source; WANG Yajun provided financial support; WANG Yajun LI Yang designed the algorithm; DAI Qi were responsible for the experimental design; LI Chenggang implement the algorithm in code; DAI Qi have sorted out the data; LI Yang wrote the main manuscript text; All authors reviewed the manuscript.
Corresponding authors
Ethics declarations
Competing interests
The authors declare no competing interests.
Additional information
Publisher’s note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Supplementary Information
Below is the link to the electronic supplementary material.
Rights and permissions
Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.
About this article
Cite this article
Wang, Y., Li, Y., Li, C. et al. Dual-branch spatio-temporal graph network for bearing fault diagnosis. Sci Rep (2026). https://doi.org/10.1038/s41598-026-42504-0
Received:
Accepted:
Published:
DOI: https://doi.org/10.1038/s41598-026-42504-0


