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Learning Cost Function and Trajectory for Robotic Writing Motion

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Artificial neural network

Artificial neural networks (ANNs, also shortened to neural networks (NNs) or neural nets) are a branch of machine learning models that are built using principles of neuronal organization discovered by connectionism in the biological neural networks constituting animal brains. An ANN is based on a collection of connected units or nodes called artificial neurons, which loosely model the neurons in a biological brain. Each connection, like the synapses in a biological brain, can transmit a signal to other neurons.

Perceptron

In machine learning, the perceptron (or McCulloch-Pitts neuron) is an algorithm for supervised learning of binary classifiers. A binary classifier is a function which can decide whether or not an input, represented by a vector of numbers, belongs to some specific class. It is a type of linear classifier, i.e. a classification algorithm that makes its predictions based on a linear predictor function combining a set of weights with the feature vector.

Robot-assisted surgery

Robot-assisted surgery or robotic surgery are any types of surgical procedures that are performed using robotic systems. Robotically assisted surgery was developed to try to overcome the limitations of pre-existing minimally-invasive surgical procedures and to enhance the capabilities of surgeons performing open surgery. In the case of robotically assisted minimally-invasive surgery, instead of the surgeon directly moving the instruments, the surgeon uses one of two methods to perform dissection, hemostasis and resection, using a direct telemanipulator, or through computer control.

Algorithm

In mathematics and computer science, an algorithm (ˈælɡərɪðəm) is a finite sequence of rigorous instructions, typically used to solve a class of specific problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning), achieving automation eventually.

Marginal cost

In economics, the marginal cost is the change in the total cost that arises when the quantity produced is incremented, the cost of producing additional quantity. In some contexts, it refers to an increment of one unit of output, and in others it refers to the rate of change of total cost as output is increased by an infinitesimal amount. As Figure 1 shows, the marginal cost is measured in dollars per unit, whereas total cost is in dollars, and the marginal cost is the slope of the total cost, the rate at which it increases with output.

Linear A

Linear A is a writing system that was used by the Minoans of Crete from 1800 to 1450 BC to write the hypothesized Minoan language or languages. Linear A was the primary script used in palace and religious writings of the Minoan civilization. It was succeeded by Linear B, which was used by the Mycenaeans to write an early form of Greek. It was discovered by archaeologist Sir Arthur Evans. No texts in Linear A have yet been deciphered.

Stochastic

Stochastic (stəˈkæstɪk; ) refers to the property of being well described by a random probability distribution. Although stochasticity and randomness are distinct in that the former refers to a modeling approach and the latter refers to phenomena themselves, these two terms are often used synonymously. Furthermore, in probability theory, the formal concept of a stochastic process is also referred to as a random process.

Projectile motion

Projectile motion is a form of motion experienced by an object or particle (a projectile) that is projected in a gravitational field, such as from Earth's surface, and moves along a curved path under the action of gravity only. In the particular case of projectile motion on Earth, most calculations assume the effects of air resistance are passive and negligible. The curved path of objects in projectile motion was shown by Galileo to be a parabola, but may also be a straight line in the special case when it is thrown directly upward or downward.

Ensemble learning

In statistics and machine learning, ensemble methods use multiple learning algorithms to obtain better predictive performance than could be obtained from any of the constituent learning algorithms alone. Unlike a statistical ensemble in statistical mechanics, which is usually infinite, a machine learning ensemble consists of only a concrete finite set of alternative models, but typically allows for much more flexible structure to exist among those alternatives.

Writing

Writing is a cognitive and social activity involving neuropsychological and physical processes and the use of writing systems to structure and translate human thoughts into persistent representations of human language. A system of writing relies on many of the same semantic structures as the language it represents, such as lexicon and syntax, with the added dependency of a system of symbols representing that language's phonology and morphology. Nevertheless, written language may take on characteristics distinctive from any available in spoken language.