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Prognostics, such as remaining useful life (RUL) prediction, is a crucial task in condition-based maintenance. A major challenge in data-driven prognostics is the difficulty of obtaining a sufficient number of samples of failure progression. However, for traditional machine learning methods and deep neural networks, enough training data is a prerequisite to train good prediction models. In this work, we proposed a transfer learning algorithm based on Bi-directional Long Short-Term Memory (BLSTM) recurrent neural networks for RUL estimation, in which the models can be first trained on different but related datasets and then fine-tuned by the target dataset. Extensive experimental results show that transfer learning can in general improve the prediction models on the dataset with a small number of samples. There is one exception that when transferring from multi-type operating conditions to single operating conditions, transfer learning led to a worse result.