Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Buoyancy and Stability for Submerged and Floating Bodies01:11

Buoyancy and Stability for Submerged and Floating Bodies

2.5K
In fluid mechanics, buoyancy and stability are key concepts for understanding the behavior of submerged and floating bodies. When a stationary body is fully or partially submerged in a fluid, the fluid exerts a force on the body known as the buoyant force. This force acts vertically upward through a point called the center of buoyancy, which is the center of the displaced fluid volume. According to Archimedes' principle, the magnitude of the buoyant force is equal to the weight of the fluid...
2.5K
Uniform Depth Channel Flow: Problem Solving01:18

Uniform Depth Channel Flow: Problem Solving

420
To calculate the flow rate for a trapezoidal channel, first, identify the bottom width, side slope, and flow depth of the channel. The cross-sectional area (A) corresponding to the depth of flow (y), channel bottom width (B), and side slope (θ) is determined by:Next, calculate the wetted perimeter, which includes the bottom width and the sloped side lengths in contact with the water. Using the values of the cross-sectional area and the wetted perimeter, determine the hydraulic radius by...
420
Buoyancy01:12

Buoyancy

12.1K
When an object is placed in a fluid, it either floats or sinks. All objects in a fluid experience a buoyant force. For example, a metal ball sinks, while a rubber ball floats. Similarly, a submarine can sink and float by adjusting its buoyancy.  The concept of buoyancy raises several interesting questions. For instance, where does this buoyant force come from? How much buoyant force is required to make an object sink or float? Do objects that sink get any support at all from the...
12.1K
Collisions in Multiple Dimensions: Problem Solving01:06

Collisions in Multiple Dimensions: Problem Solving

5.2K
In multiple dimensions, the conservation of momentum applies in each direction independently. Hence, to solve collisions in multiple dimensions, we should write down the momentum conservation in each direction separately. To help understand collisions in multiple dimensions, consider an example.
A small car of mass 1,200 kg traveling east at 60 km/h collides at an intersection with a truck of mass 3,000 kg traveling due north at 40 km/h. The two vehicles are locked together. What is the...
5.2K
Hydraulic Jump: Problem Solving01:16

Hydraulic Jump: Problem Solving

451
To analyze a hydraulic jump in a rectangular channel with a flow speed of 6 meters per second, follow these steps:Calculate Effective Upstream Velocity:When the downstream gate closes, a hydraulic jump forms, traveling upstream at 2 meters per second. This wave speed combines with the initial channel flow velocity, creating an effective upstream velocity.Identify Flow Velocities Before and After the Hydraulic Jump:Upstream of the hydraulic jump, the effective flow velocity includes both the...
451
Uniform Depth Channel Flow01:27

Uniform Depth Channel Flow

522
Uniform depth channel flow keeps fluid depth consistent along channels such as irrigation canals. In natural channels, such as rivers, approximate uniform flow is often assumed. This condition occurs when the channel’s bottom slope matches the energy slope, balancing potential energy lost from gravity with head loss due to shear stress. This balance prevents depth changes along the channel length, resulting in a steady, uniform flow.Uniform flow in open channels with a constant cross-section...
522

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Genetic variants of p21 and p27 and hepatocellular cancer risk in a Chinese Han population: a case-control study.

International journal of cancer·2012
Same author

Inhibition of TGF-β/Smad signaling by BAMBI blocks differentiation of human mesenchymal stem cells to carcinoma-associated fibroblasts and abolishes their protumor effects.

Stem cells (Dayton, Ohio)·2012
Same author

MAIGO2 is involved in abscisic acid-mediated response to abiotic stresses and Golgi-to-ER retrograde transport.

Physiologia plantarum·2012
Same author

The internal dynamics of mini c TAR DNA probed by electron paramagnetic resonance of nitroxide spin-labels at the lower stem, the loop, and the bulge.

Biochemistry·2012
Same author

Electrochemical depassivation of zero-valent iron for trichloroethene reduction.

Journal of hazardous materials·2012
Same author

Derivation of quantum work equalities using a quantum Feynman-Kac formula.

Physical review. E, Statistical, nonlinear, and soft matter physics·2012

Related Experiment Video

Updated: Jan 11, 2026

Emergency Undocking in Robotic Surgery: A Simulation Curriculum
06:48

Emergency Undocking in Robotic Surgery: A Simulation Curriculum

Published on: May 20, 2018

10.0K

Dynamic hovering for uncrewed underwater vehicles via an error-separation-based cooperative strategy.

Xiaoli Luan1, Shenhan Yu1, Haiying Wan2

  • 1Key Laboratory of Advanced Control for Light Industry Processes, Ministry of Education, Jiangnan University, Wuxi, China.

Communications Engineering
|November 18, 2025
PubMed
Summary

This study introduces a novel cooperative control framework for uncrewed underwater vehicles (UUVs). The new method enhances precision and efficiency for dynamic hovering missions while reducing control efforts and improving disturbance rejection.

More Related Videos

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish
10:56

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Published on: March 6, 2014

13.0K
Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools
09:32

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools

Published on: November 20, 2017

9.7K

Related Experiment Videos

Last Updated: Jan 11, 2026

Emergency Undocking in Robotic Surgery: A Simulation Curriculum
06:48

Emergency Undocking in Robotic Surgery: A Simulation Curriculum

Published on: May 20, 2018

10.0K
Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish
10:56

Long-term Behavioral Tracking of Freely Swimming Weakly Electric Fish

Published on: March 6, 2014

13.0K
Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools
09:32

Development of New Methods for Quantifying Fish Density Using Underwater Stereo-video Tools

Published on: November 20, 2017

9.7K

Area of Science:

  • Robotics
  • Ocean Engineering
  • Control Systems

Background:

  • Uncrewed underwater vehicles (UUVs) are crucial for ocean resource utilization but face challenges in precise maneuvering due to environmental uncertainties and disturbances.
  • Existing control methods often struggle to balance robustness, efficiency, and precision in dynamic subsea environments.

Purpose of the Study:

  • To develop a novel cooperative control framework for UUVs to enhance precision and efficiency in dynamic hovering missions.
  • To minimize control efforts associated with sliding mode control (SMC) while maintaining robustness.
  • To address challenges posed by uncertainties, time-varying disturbances, and unstructured subsea environments.

Main Methods:

  • Introduction of a cooperative control framework integrating Linear Quadratic Regulator (LQR) and Sliding Mode Control (SMC).
  • Development of a deviation separation strategy to decouple hovering deviations into task-specific and anti-disturbance components using an influence function.
  • Real-time disturbance estimation and adaptive compensation without prior knowledge.

Main Results:

  • The proposed framework effectively minimizes control efforts and enhances robustness for long-duration dynamic hovering.
  • The deviation separation strategy enables accurate real-time disturbance estimation and compensation.
  • Cooperative control between LQR and SMC avoids performance conflicts, improving compensation accuracy and energy efficiency.
  • Demonstrated effectiveness in countering current perturbations while maintaining high-precision hovering with low control costs.

Conclusions:

  • The novel cooperative control strategy significantly advances UUV control capabilities for complex underwater tasks.
  • The framework offers a versatile solution for achieving precise, efficient, and robust UUV operations in challenging marine environments.
  • This approach provides a pathway for improved ocean resource utilization through enhanced UUV performance.