Flapping-fin unmanned underwater vehicle (UUV) propulsion systems enable high maneuverability for tasks ranging from station-keeping to surveillance but are often constrained by their limited computational power and battery capacity. Previous research has demonstrated that time-series neural network models can accurately predict the thrust and power of certain fin kinematics based on the specified gait coupled with the fin configuration, but can not fit an inverse neural network that takes a thrust request and tunes the kinematics by weighting thrust generation, smooth movement transitions, and power attributes. We study various combinations of the three weights and fin materials to create different ‘modes’ of movement for a multi-objective UUV, based on controller intent using an inverse neural network. Finally, we implement and validate an enhanced power-aware inverse model by benchmarking on the Raspberry Pi Model 4B system and testing through generated simulated movements.

Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to predict thrust from vehicle design and fin kinematics. We develop a search-based inverse model that leverages a kinematics-to-thrust neural network model for control system design. Our inverse model finds a set of fin kinematics with the multi-objective goal of reaching a target thrust and creating a smooth kinematic transition between flapping cycles. We demonstrate how a control system integrating this inverse model can make online, cycle-to-cycle adjustments to prioritize different system objectives.

MOTIVATION: The solvent accessibility of amino acid residues plays an important role in tertiary structure prediction, especially in the absence of significant sequence similarity of a query protein to those with known structures. The prediction of solvent accessibility is less accurate than secondary structure prediction in spite of improvements in recent researches. The k-nearest neighbor method, a simple but powerful classification algorithm, has never been applied to the prediction of solvent accessibility, although it has been used frequently for the classification of biological and medical data. RESULTS: We applied the fuzzy k-nearest neighbor method to the solvent accessibility prediction, using PSI-BLAST profiles as feature vectors, and achieved high prediction accuracies. With leave-one-out cross-validation on the ASTRAL SCOP reference dataset constructed by sequence clustering, our method achieved 64.1% accuracy for a 3-state (buried/intermediate/exposed) prediction (thresholds of 9% for buried/intermediate and 36% for intermediate/exposed) and 86.7, 82.0, 79.0 and 78.5% accuracies for 2-state (buried/exposed) predictions (thresholds of each 0, 5, 16 and 25% for buried/exposed), respectively. Our method also showed slightly better accuracies than other methods by about 2-5% on the RS126 dataset and a benchmarking dataset with 229 proteins. AVAILABILITY: Program and datasets are available at http://biocom1.ssu.ac.kr/FKNNacc/ CONTACT: [email protected].