Feature drift is caused by the dynamic coupling of target features and degradation factors, which reduce underwater detector performance. We redefine feature drift as the instability of target features within boundary constraints while solving partial differential equations (PDEs). From this insight, we propose the Spatial Residual (SR) block, which uses SkipCut to establish effective constraints across the network width for solving PDEs and optimizes the solution space. It is implemented as a general-purpose backbone with 5 Spatial Residuals (BSR5) for complex feature scenarios. Specifically, BSR5 extracts discrete channel slices through SkipCut, where each sliced feature is parsed within the appropriate data capacity. In gradient backpropagation, SkipCut functions as a ShortCut, optimizing information flow and gradient allocation to enhance performance and accelerate training. Experiments on the RUOD dataset show that BSR5-integrated DETRs and YOLOs achieve state-of-the-art results for conventional and end-to-end detectors. Specifically, our BSR5-DETR improves 1.3% and 2.7% AP than RT-DETR with ResNet-101, while reducing parameters by 41.6% and 6.6%, respectively. Further validation highlights BSR5's strong convergence and robustness, especially in training from scratch scenarios, making it well suited for data-scarce, resource-constrained, and real-time tasks.

In this paper, we introduce an image quality assessment (IQA) method for pediatric T1- and T2-weighted MR images. IQA is first performed slice-wise using a nonlocal residual neural network (NR-Net) and then volume-wise by agglomerating the slice QA results using random forest. Our method requires only a small amount of quality-annotated images for training and is designed to be robust to annotation noise that might occur due to rater errors and the inevitable mix of good and bad slices in an image volume. Using a small set of quality-assessed images, we pre-train NR-Net to annotate each image slice with an initial quality rating (i.e., pass, questionable, fail), which we then refine by semi-supervised learning and iterative self-training. Experimental results demonstrate that our method, trained using only samples of modest size, exhibit great generalizability, capable of real-time (milliseconds per volume) large-scale IQA with nearperfect accuracy.

Fast and automated image quality assessment (IQA) of diffusion MR images is crucial for making timely decisions for rescans. However, learning a model for this task is challenging as the number of annotated data is limited and the annotation labels might not always be correct. As a remedy, we will introduce in this paper an automatic image quality assessment (IQA) method based on hierarchical non-local residual networks for pediatric diffusion MR images. Our IQA is performed in three sequential stages, i.e., 1) slice-wise IQA, where a nonlocal residual network is first pre-trained to annotate each slice with an initial quality rating (i.e., pass/questionable/fail), which is subsequently refined via iterative semi-supervised learning and slice self-training; 2) volume-wise IQA, which agglomerates the features extracted from the slices of a volume, and uses a nonlocal network to annotate the quality rating for each volume via iterative volume self-training; and 3) subject-wise IQA, which ensembles the volumetric IQA results to determine the overall image quality pertaining to a subject. Experimental results demonstrate that our method, trained using only samples of modest size, exhibits great generalizability, and is capable of conducting rapid hierarchical IQA with near-perfect accuracy.

This paper presents a closed-loop trajectory tracking controller for an Unmanned Underwater Vehicle(UUV) with five degrees of freedom. A backstepping control (BSC) methodology combined with Lyapunov theorem is adopted to design the controller of trajectory tracking. Then an online-tuning fuzzy neural network (FNN) framework is chosen to inherit the conventional BSC law. Moreover, the adaptive parameters tuning laws are derived in the sense of Lyapunov stability theorem and projection algorithm to ensure the network convergence as well as stable control performance. Finally, the simulation results on UUV verify that an excellent performance of the proposed controller can be obtained.