I. Introduction
Currently, with the rapid development of big data and cyber systems, Industrial Internet of Things has been extensively applied in condition monitoring of mechanical equipment. Generally, diverse sensors are installed on machinery to collect the comprehensive degradation information and obtain massive monitoring data, which brings new opportunities as well as challenges to the remaining useful life (RUL) prediction of machinery. Since data-driven prognostics approaches can learn the degradation information hidden in the monitoring data effectively, and establish the complex mapping relationship between the monitoring data and RUL directly. They have attracted more attention [1].