The increased complexity and integration of vehicle systems has resulted in greater difficulty in the identification of malfunction phenomena, especially those related to cross-subsystem failure propagation and thus made system monitoring an inevitable component of future vehicles. Consequently, a continuous monitoring and early warning capability that detects, isolates and estimates size or severity of faults (viz., fault detection and diagnosis), and that relates detected degradations in vehicles to accurate remaining life-time predictions (viz., prognosis) is required to minimize downtime, improve resource management via condition-based maintenance, and minimize operational costs.