I. Introduction
In recent years, prognostic health management (PHM) has become important to improve the operational efficiency, reliability, and system performance. PHM continuously monitors the system operation, and diagnoses abnormal signs, when failure levels or unusable conditions occur. With the PHM technology, condition-based predictive maintenance can be performed only when necessary, and maintenance costs can be greatly reduced. In PHM, prognostics estimate the remaining useful life (RUL) [1] for the system to perform its intended function. The importance of RUL estimation in many fields, such as the aircraft industry, medical equipment and power plants, has encouraged researchers to develop a variety of RUL estimation approaches [2]-[6]. Recently, deep learning has shown remarkable achievements in image recognition and speech recognition [7], [8]. Deep learning is characterized by a deep architecture in which several layers are stacked to capture representative information from raw input data [9]. This characteristic of deep learning has great potential in matching original data and RUL. Therefore, it is very useful to be used in the RUL estimation.