Table 5 Predictive evaluation of each test bearing.

Test bearing	Method in²⁹		TCN-SA³⁰			CNN-BiLSTM³¹				Proposed
Test bearing	MAE	RMSE	MAE	RMSE	Score	MAE	RMSE	Score	R²	MAE	RMSE	Score	R²
B1-1	15.6	17.8	38.6	46.8	0.68	25	28.9	0.51	− 0.01	22.4	25.7	0.48	0.21
B1-2	18.3	22.4	33.8	41.3	0.69	25.4	29.6	0.55	− 0.05	13.1	16.4	0.59	0.68
B1-3	14.8	18.1	32.5	40.4	0.69	25.5	29.7	0.55	− 0.06	19.4	22.3	0.55	0.4
B1-4	23	28.4	43.5	51.5	0.66	25	28.8	0.5	0	20.1	23.6	0.55	0.33
B1-5	20.8	26.3	35.7	43.8	0.7	32	39.2	0.65	− 0.84	32	39.2	0.66	− 0.84
B1-6	27.3	32.6	23.6	27.1	0.47	29.3	35.7	0.64	− 0.53	36	43.1	0.25	− 1.23
B1-7	15	18.4	46.7	54.7	0.64	34.6	42.4	0.66	− 1.15	31.8	38.7	0.67	− 0.8
B2-1	18	21.2	13.8	16.8	0.67	37.3	45.5	0.67	− 1.48	32.7	40.2	0.68	− 0.94
B2-2	15.6	20	23.2	27.8	0.38	31.8	38.8	0.65	− 0.81	14.7	17.3	0.74	0.64
B2-3	23.1	27.7	29.6	35	0.3	33.7	41.2	0.66	− 1.04	18.5	21.7	0.45	0.43
B2-4	27.9	33.4	34.1	41.8	0.28	31.8	38.9	0.65	− 0.81	29.5	35.7	0.63	− 0.53
B2-5	20.9	24.9	25	33.4	0.7	32.1	39.2	0.65	− 0.85	28.6	34.6	0.63	− 0.44
B2-6	35.2	43.8	38.6	46.7	0.24	33.1	40.5	0.66	− 0.97	30.8	37.6	0.65	− 0.69
B2-7	39.4	46.7	23.1	26.6	0.45	25.1	29.2	0.55	− 0.03	32.6	40.8	0.68	− 1

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