Taguchi methods (タグチメソッド) are statistical methods, sometimes called robust design methods, developed by Genichi Taguchi to improve the quality of manufactured goods, and more recently also applied to engineering, biotechnology, marketing and advertising. Professional statisticians have welcomed the goals and improvements brought about by Taguchi methods, particularly by Taguchi's development of designs for studying variation, but have criticized the inefficiency of some of Taguchi's proposals. Taguchi's work includes three principal contributions to statistics: A specific loss function The philosophy of off-line quality control; and Innovations in the design of experiments. Traditionally, statistical methods have relied on mean-unbiased estimators of treatment effects: Under the conditions of the Gauss–Markov theorem, least squares estimators have minimum variance among all mean-unbiased linear estimators. The emphasis on comparisons of means also draws (limiting) comfort from the law of large numbers, according to which the sample means converge to the true mean. Fisher's textbook on the design of experiments emphasized comparisons of treatment means. However, loss functions were avoided by Ronald A. Fisher. Taguchi knew statistical theory mainly from the followers of Ronald A. Fisher, who also avoided loss functions. Reacting to Fisher's methods in the design of experiments, Taguchi interpreted Fisher's methods as being adapted for seeking to improve the mean outcome of a process. Indeed, Fisher's work had been largely motivated by programmes to compare agricultural yields under different treatments and blocks, and such experiments were done as part of a long-term programme to improve harvests. However, Taguchi realised that in much industrial production, there is a need to produce an outcome on target, for example, to machine a hole to a specified diameter, or to manufacture a cell to produce a given voltage. He also realised, as had Walter A.