Abstract
Intelligent fault diagnosis for rotary machinery often suffers performance degradation under domain shifts between training and deployment environments. To address this, we propose a robust fault diagnosis framework incorporating three key components: (1) an order-frequency-based preprocessing method to normalize rotational variations, (2) a U-Net variational autoencoder (U-NetVAE) to enhance adaptation through reconstruction learning, and (3) a test-time training (TTT) strategy enabling unsupervised target domain adaptation without access to source data. Since existing works rarely evaluate under true domain shift conditions, we first construct a unified cross-domain benchmark by integrating four public datasets with consistent class and sensor settings. The experimental results show that our method outperforms conventional machine learning and deep learning models in both F1-score and recall across domains. Notably, our approach maintains an F1-score of 0.47 and recall of 0.51 in the target domain, outperforming others under identical conditions. Ablation studies further confirm the contribution of each component to adaptation performance. This study highlights the effectiveness of combining mechanical priors, self-supervised learning, and lightweight adaptation strategies for robust fault diagnosis in the practical domain.