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Prognostics is a term that engineering borrowed from medicine to refer to the discipline concerned with the Remaining Useful Life (RUL) of an engineering device. This paper surveys the RUL prediction techniques and classifies them into four categories of model-based techniques,knowledge-based techniques, experience-based techniques, and data-driven techniques. A comparative review is given for the main features, prominent advantages, potential shortcomings and main subcategories for each of these categories. The survey is supported by an extensive listfor up-to-date references.