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.

Coronary artery disease is a major cause of death in women. Breast arterial calcifications (BACs), detected inmammograms, can be useful riskmarkers associated with the disease. We investigate the feasibility of automated and accurate detection ofBACsinmammograms for risk assessment of coronary artery disease. We develop a 12-layer convolutional neural network to discriminate BAC from non-BAC and apply a pixelwise, patch-based procedure for BAC detection. To assess the performance of the system, we conduct a reader study to provide ground-truth information using the consensus of human expert radiologists. We evaluate the performance using a set of 840 full-field digital mammograms from 210 cases, using both free-responsereceiveroperatingcharacteristic (FROC) analysis and calcium mass quantification analysis. The FROC analysis shows that the deep learning approach achieves a level of detection similar to the human experts. The calcium mass quantification analysis shows that the inferred calcium mass is close to the ground truth, with a linear regression between them yielding a coefficient of determination of 96.24%. Taken together, these results suggest that deep learning can be used effectively to develop an automated system for BAC detection inmammograms to help identify and assess patients with cardiovascular risks.