Web: http://arxiv.org/abs/2209.06369

Sept. 15, 2022, 1:11 a.m. | Julian Lee, Kamal Viswanath, Jason Geder, Alisha Sharma, Marius Pruessner, Brian Zhou

cs.LG updates on arXiv.org arxiv.org

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 …

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