Fig. 7: Anti-disturbance performance.
From: A maneuverable underwater vehicle for near-seabed observation
a Depth distribution in 0.5 s after impact (number of data: 10, Mann–Whitney U test: mean and 25th to 75th percentiles). b Output torque as a percentage of maximum output torque for disturbances generated by 3 kg and 4 kg loads. The upper figure represents the torque distribution after the impact. The lower graphs I and II represent the torque distribution after the first and second impacts occur, respectively. fq represents pitch control force. c Angular velocity profiles in 0.5 s after different impacts generated by 3 kg and 4 kg loads. d Stability analysis of angular velocity after stabilization of 3 kg (number of data: 33,000) and 4 kg (number of data: 26,400) loads (Mann–Whitney U test: the median, mean, and 25th to 75th percentiles). Source data are provided as a Source Data file.
