I. Introduction
Automation science addresses the accuracy and quality of processes in a variety of applications from manufacturing to healthcare. Each year, over 500, 000 cancer patients worldwide are treated with brachytherapy [1], a form of radiotherapy where needles or implants are temporarily inserted into the body to guide small radioactive sources close to tumors (brachys: Greek for proximal). Brachytherapy is widely used to treat cancer in a number of anatomical sties: interstitial locations such as prostate, pelvic sidewall, breast, liver, brain; and intracavitary locations such as nasal cavity, throat, tongue, rectum, cervix, and the vaginal canal [2].