Fig. 2.

(a) CM tip cross sectional view showing the actuation, sensing, and tool channels, (b) tool integrated with the CM, (c) FBG sensor, (d) FBG sensor with the triangular configuration cross section view, and (e) Top: DNN architecture. λ_n is the raw FBG vector at the n^th observation. ${\widehat{p}}_n$ is the network output CM tip position. Hyperparameters of the fully connected layers are listed under each block. Bottom: TNN architecture. The concatenation process is illustrated with the time-series data.