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This paper presents a generic framework for fault prognosis using autoencoder-based deep learning methods. The proposed approach relies upon a semi-supervised extrapolation of autoencoder reconstruction errors, which can deal with the unbalanced proportion between faulty and non-faulty data in an industrial context to improve systems' safety and reliability. In contrast to supervised methods, the approach requires less manual data labeling and can find previously unknown patterns in data. The technique focuses on detecting and isolating possible measurement divergences and tracking their growth to signalize a fault's occurrence while individually evaluating each monitored variable to provide fault detection and prognosis. Additionally, the paper also provides an appropriate set of metrics to measure the accuracy of the models, which is a common disadvantage of unsupervised methods due to the lack of predefined answers during training. Computational results using the Commercial Modular Aero Propulsion System Simulation (CMAPSS) monitoring data show the effectiveness of the proposed framework. [ABSTRACT FROM AUTHOR]