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With the rapid development of sensor and information technology, now multisensor data relating to the system degradation process are readily available for condition monitoring and remaining useful life (RUL) prediction. The traditional data fusion and RUL prediction methods are either not flexible enough to capture the highly nonlinear relationship between the health condition and the multisensor data or have not fully utilized the past observations to capture the degradation trajectory. In this article, we propose a joint prognostic model (JPM), where Baye
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