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    Scalable brine treatment using 3D-printed multichannel thermodiffusion

    AbstractIndustrial processes generate over 200 million metric tonnes of brine each day, posing serious environmental challenges due to its high salinity, toxicity, and energy-intensive treatment requirements. Conventional treatment methods, such as reverse osmosis and evaporation ponds, face limitations in scalability, energy efficiency, and environmental impact. Here, we demonstrate that multichannel thermodiffusion—an emerging membrane- and evaporation-free method driven by temperature gradients—can effectively concentrate brines beyond 70 ppt (parts per thousand), approaching saturation. Using a liquid Burgers cascade, we show that thermodiffusive separation becomes more efficient at higher feed concentrations and can be scaled using low-cost, rapidly fabricated 3D-printed components. Furthermore, we demonstrate the versatility of the technique by applying it to an industrially relevant feed including LiI, K2SO4, and NaOH. Our results indicate that thermodiffusion, previously regarded as ‘too weak for practical use’, offers a sustainable, scalable, and energy-efficient pathway toward minimal liquid discharge and potentially resource recovery from concentrates.

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    IntroductionBrine, an environmentally hazardous solution with salinity exceeding seawater, is produced at 200 million tonnes daily. Brine is discharged from various industrial processes, including desalination, pharmaceuticals, petrochemicals, textiles, dairy, and oil & gas (O&G) extraction. The common concentration range is between 50 ppt (parts per thousand) and 150 ppt, but can be as high as 400 ppt from O&G produced water. However, the adverse environmental impact of the discharged brine is substantial, including the destruction of marine ecosystems and the pollution of precious groundwater resources1,2. The main challenge in brine treatment is that the existing technologies based on functional materials, such as reverse osmosis membranes, are limited to about 70 ppt with low recovery rates (as low as 10%)3. Furthermore, conventional thermal methods for brine concentration, such as evaporation ponds, are too slow, susceptible to weather variability, and require a large land area4. Critically, they lead to the depletion of water resources in arid and semi-arid regions because water is lost to the atmosphere during evaporation. More modern techniques that include water recovery, such as multiple effect distillation (MED), may suffer from severe scaling5. In addition, new crystallisation technologies, such as membraneless solvent-based methods6, are promising, but have high capital and operating costs and struggle with complete solvent removal. Currently, there is no sustainable scalable technology for brine treatment.Brine typically contains ions of sodium, chloride, calcium and potassium at high concentrations, and salt harvesting can be economically profitable3. Importantly, high-value metals—such as lithium, rubidium, and caesium—can be found in brine7. In fact, brine treatment is an integral part of the extraction of these raw materials essential for infrastructure, manufacturing, and energy production. However, as with most mining practices, there are concerns about the use of land, energy and water, leading to an increasing demand for sustainable technologies. Furthermore, there are potentials in new areas for recovery of valuable materials from brines and other concentrates. For example, potash is a valuable fertiliser obtained from evaporation8. Currently, over 80% of brine is directly disposed of by surface discharge, wastewater discharge, or deep-well injection. This not only raises environmental concerns9, but also means missed opportunities to recover water and critical resources3. An emerging trend in brine treatment is to maximise freshwater recovery and minimise waste disposal, namely minimal liquid discharge (MLD, in which ≥95% of water is harvested) and zero liquid discharge (ZLD, 100% of water is harvested). The typical method used here is evaporation ponds, which are also used in brine mining to increase the concentration of lithium and potash from the initial, more dilute concentrations. However, this method is excessively time consuming (6–24 months) and occupies vast land area. The challenges intrinsic to existing brine treatment technologies, along with the opportunities associated with brine mining, highlight the urgent need to develop new low-cost and sustainable concentration technologies for brines and other concentrates.This could be enabled by thermodiffusion or the Soret effect10, a phenomenon characterised by mass transport under a temperature gradient11. We showed the potential of thermodiffusion for high-throughput applications of desalination and brine concentration10,12. Although the Soret effect is generally a weak phenomenon, our innovation in multichannel thermodiffusion (MTD) with hardware improvements (u-shaped heating near the channel walls and selective thermal insulation through the liquid Burgers cascade) increased performance, up to 40 times compared to a baseline case without improvements. Importantly, we experimentally showed that the thermodiffusive separation at salinities of 70 ppt is greater than that of 35 ppt. A better energy efficiency at higher concentrations, up to saturation, can be achieved because the thermodiffusive flux becomes stronger. The total mass flux under temperature gradients is$${bf{J}}=-rho Dnabla C-rho C(1-C){D}_{{rm{T}}}nabla T,$$
    (1)
    where the first term on the right-hand side of the equation describes Fickian mass diffusion (due to the concentration gradient ∇C) and the second term describes thermodiffusion (due to a temperature gradient ∇T). In Eq. (1), D is the Fickian diffusion coefficient, which is always positive because net diffusive transport spontaneously occurs from high to low concentration due to Brownian motion. In contrast, DT is the thermodiffusion coefficient that can be positive (thermophobic) or negative (thermophilic), depending on the system13. Seawater is a multi-component aqueous solution, but a quasi-binary approximation could be relatively accurate due to electroneutrality14. The Soret coefficient ST is defined as the ratio between the thermodiffusion and Fickian diffusion coefficients ST ≡ DT/D, and indicates the level of separation in steady state under both Fickian and thermodiffusive mass fluxes.In this study, our aim is to address the following research questions that enable the adoption of thermodiffusive brine concentration technology.

    1.

    Can MTD be used to concentrate brine beyond 70 ppt to close to saturation levels? It was suggested in refs. 10,12 without experimental evidence.

    2.

    Can MTD structures be manufactured with low-cost scalable methods? Computer numerical control (CNC) machining was previously used10, but it is expensive and not suitable for rapid prototyping or mass production.

    3.

    Can multichannel arrangements have different shapes that are not a long straight array of channels? A practical liquid Burgers cascade may need lengths exceeding 10 m, which are not practical. Serpentine structures would facilitate the scalability.

    4.

    How does thermodiffusive separation perform for different types of brines important in the mining industry? in refs. 10,12, the technology was demonstrated with seawater and NaCl brines. Expanding this application to other types of brine would greatly expand its field of application.

    In this work, we provide the first experimental evidence that thermodiffusive separation is more effective at higher feed concentrations, and this trend persists even near saturation. The ability of MTD to handle such highly concentrated feeds, in contrast to membrane-based technologies, highlights its potential for brine treatment. Furthermore, based on an ongoing techno-economic analysis (TEA)15, we identified that reducing manufacturing costs is essential for MTD to become economically viable. To this end, we experimentally demonstrate that low-cost, 3D printing-based manufacturing can be used to fabricate the multichannel structure, supporting rapid prototyping and potential widespread adoption. In addition, we predict the performance of MTD for various types of brines in full-scale devices through modelling and provide the corresponding specific energy consumption ({rm{SEC}}), i.e., the energy consumption per unit volume of yield.ResultsLiquid Burgers cascade for multichannel thermodiffusive separationThe liquid Burgers cascade (LBC) is a network of thermodiffusive micro-separators or channels16, as shown in Fig. 1a, which enhance the inherently weak thermodiffusive separation in individual channels. Each channel has a flow of momentum, heat and species, as shown in Fig. 1b. A vertical temperature gradient is imposed across each channel, with the upper wall heated and the lower wall cooled to avoid natural convection. This temperature difference drives solute transport via the Soret effect, creating a vertical concentration profile. For thermophobic transport, high concentration develops near the cooled lower wall, while low concentration develops near the heated upper wall. The hydrodynamic and thermal entrance lengths are less than 1% of the total channel length. Thus, the flow in the thermodiffusive separation channel is a laminar, fully-developed planar Poiseuille flow with a positive quasi-linear temperature profile. The mass transport is advection-dominant along the channel (Péclet number Pex ≫ 1) while diffusion and thermodiffusion dominate across the channel height (Pey = 0). These ideal assumptions were considered in the experimental design and experimentally validated in our previous work (Figs. 2 and 3 of ref. 17, Supplementary Method 2 and Fig. 2 of ref. 12). The LBC requires a fully developed laminar flow to maintain stratification, as vertical laminar flows or turbulence would mix the species, reducing or suppressing the species separation achieved by thermodiffusion.Fig. 1: The concept of multichannel thermodiffusion (MTD).a Schematic showing the arrangement of flow within the MTD device called the liquid Burger cascade (LBC), illustrates how the concentration of a solution separates into higher and lower values on opposite sides of the device, perpendicular to the main flow direction. b Illustration of a single rectangular channel within the LBC. A laminar Poiseuille plane flow (Reynolds number below a critical threshold, ({rm{Re}} < {{rm{Re}}}_{{rm{cri}}})) with a parabolic horizontal velocity v(y) passes through a rectangular channel while having a positive vertical temperature gradient. In the x direction, the Péclet number Pe ≫ 1 so that advective mass transport is dominant. In the y direction, Pe = 0 and the mass transport is diffusion dominant. The flow bifurcates into two at the channel outlet. If the solute is thermophobic, the inset shows that the low concentration flow at the top is deviated towards the right, while the high concentration flow at the bottom is directed towards the left. c Flow in the experimental LBC device used in this work.Full size imageIn the cascade, at the outlet of each channel, the top stream and the bottom stream smoothly bifurcate at the horizontal midplane and no mixing occurs (inset of Fig. 1b). The bottom stream proceeds to the left, while the top stream proceeds to the right. Every channel within the LBC receives two dissimilar inlet streams from adjacent channels of the previous row (except for the channels in the first row and the outer-most columns). Across multiple channels, the channels on the left side progressively accumulate higher concentration streams, while those on the right become increasingly diluted (assuming thermophobic behaviour; the opposite would occur for thermophilic transport). This iterative splitting amplifies the weak thermodiffusive separation in a single channel, increasing the concentration difference between the leftmost and rightmost channels.CNC-machined LBCFigure 1c shows the experimental LBC setup, where the multichannel array is clamped between thermostatically controlled plates. To experimentally validate the concept of MTD, a precision CNC-machined LBC was constructed as shown in Fig. 2a–c, using aluminium for the upper and lower channel walls and polyoxymethylene (POM) for the channel sidewalls. The LBC assembly comprises 36 interconnected rectangular channels (28 full channels and 8 half channels) arranged in a matrix of 4 × 4 channel pairs. The exploded CAD view (Fig. 2a) illustrates the multilayer assembly, in which each component (thermal insulation shield, aluminium lid, heating block, LBC channels, and cooling block) was machined and vertically stacked to ensure precise alignment and effective sealing. Aluminium walls facilitate thermal regulation and reduce thermal resistance, while POM components provide structural support and reduce parasitic heat losses through the structure, hence improving thermal energy utilisation. Based on a previous thermal resistance network analysis of the same device with sidewalls made of POM and water as the working fluid, Rsidewall = 0.36 KW−1 and Rfluid = 0.43 KW−1. In that case, approximately 50% of the heat is transferred through the LBC structure and 50% through the solution. A pair of water baths was integrated above and below the channel blocks to circulate hot and cold water to establish a stable vertical temperature difference between the walls. The average temperature difference of 47.5 K was measured via 5 pairs of Type K thermocouples located on the side of heating and cooling blocks, all 5 mm away from the channel upper and lower walls. This configuration follows the LBC arrangement in Fig. 1a, enabling the study of the thermodiffusive separation under controlled laboratory conditions.Fig. 2: The experimental setup for testing the liquid Burgers cascade (LBC).a Exploded CAD view of the lab-scale LBC designed to test brine concentration and desalination, showing the key components of the assembly in exploded view. b Photo of CNC-machined components. c CAD view of the assembled LBC with a cross-sectional view illustrating the arrangement of adjacent channels and their interaction with flow and heating/cooling media. The arrangement of the materials with different thermal conductivities improves thermal energy utilisation. d Flow diagram of the experimental setup developed in this study, including instruments and components connected to the LBC. The energy flow in a steady state condition is shown in a Sankey diagram, also described in the Methods section. More than 99% of the energy input to the LBC is the heat transfer rate ({dot{Q}}_{{rm{in}}}approx {rm{SEC}}). No heat recovery of ({dot{Q}}_{{rm{out}}}) is considered. e Photo of the complete experimental setup.Full size imageThe experimental layout is presented in Fig. 2d–e with a schematic and a photo. The unit was positioned horizontally on a level platform to ensure uniform laminar flow across all channels. The feed water from an elevated brine reservoir was degassed before entering the LBC to eliminate the possible generation of air bubbles that affect separation. Control of the volumetric flow rate was achieved through a calibrated peristaltic pump. The total length of the device is approximately 500 mm, while the total length of each channel pair is 115 mm with a single channel length of 56 mm. The flow exits through five outlets, three full channels (1+1/2, 2+1/2 and 3+1/2) and two half channels (1/2 and 4+1/2), each leading to individual collection bottles placed at equal heights. To compensate for the half-height channels at the first and last outlets of the LBC, the corresponding collection bottles were arranged with flow-volume restrictors reducing the cross-sectional area of the collection bottle to half, ensuring synchronised rise levels across all bottles (producing equal hydrostatic pressure at the LBC outlets). After steady-state operation, samples were extracted from each collection bottle to measure the concentration difference between the inlet and outlet streams. Phase-shifting interferometry (PSI)13,18 provided an accurate quantification of the concentration difference between the outlet samples and the feed water. Monotonic changes in concentration difference are expected along the outlet streams10 and, in this work, we focus on the application of brine concentration.Separation of species in hypersaline brinesThe LBC performance was further investigated in a range of feed concentrations of NaCl to evaluate its suitability to concentrate hypersaline solutions. Figure 3a shows the concentration difference between outlet and inlet streams as a function of outlet number for different feed concentrations. The results show that increasing the feed concentration leads to a greater thermodiffusive separation. Experiments were conducted with inlet salinities ranging from 90 ppt to 270 ppt under a temperature difference of 40 K. The inset of Fig. 3a plots the concentration difference between the first outlet and feed as a function of feed concentration, which clearly shows that a larger separation is achieved as the feed concentration is increased. This is in stark contrast to other brine concentration technologies, such as reverse osmosis (membrane-based method) and air gap membrane distillation (thermal-based) in which a higher concentration leads to performance and materials degradation. Simulations were carried out for each experimental condition following the third step in “Liquid Burgers cascade modelling” in the Methods section to map the concentration in each channel within the LBC, and the numerical results are also plotted. The high degree of agreement between experimental and numerical results confirms that the separation of the high- and low-concentration streams occurred at the horizontal midplane with little mixing, following the horizontal flow depicted in the insets of Fig. 1b. The resulting outlet concentrations demonstrated a nearly linear concentration change from the first to the last outlet, in agreement with the modelling results (previously reported in ref. 10).Fig. 3: Performance of the lab-scale LBC under varying experimental conditions.a Concentration difference ΔC between channel outlet and feed with numerical predictions for the NaCl feed concentrations indicated in the legend. The inset plots ΔC at outlet 1/2 as a function of feed concentration C0. The error bars for PSI measurements represent propagated uncertainties δΔC, derived through error propagation of the standard deviation δΔψ of the phase difference Δψ and the standard deviation δCF of the contrast factor. That is, (delta Delta C/Delta C={[{(delta Delta psi /Delta psi )}^{2}+{(delta {rm{CF}}/{rm{CF}})}^{2}]}^{0.5}) (details in Supplementary Method 1 of ref. 10). The inset plots ΔC at outlet 1/2 as a function of feed concentration C0. The Soret and mass diffusion coefficients are evaluated at the mean temperature of 40 °C to be 2.11 × 10−3 K−1 24 and 2.21 × 10−9 m2 s−1 34, respectively. Experimental conditions: ΔT = 35 K, (Q=0.6,,text{mL},,{min }^{-1}). b Concentration difference between the outlet and inlet flows as a function of the volumetric flow rate through the LBC. The flow rate was varied over the range (0.6,,text{mL},,{min }^{-1}) to (24,,text{mL},,{min }^{-1}) for a NaCl feed concentration of 210 ppt and ΔT = 35 K. The maximum relative error in these measurements was below 10%. The error bars were omitted in this plot for clarity. The numerical predictions are plotted for comparison.Full size imageThese results validate the hypothesis that the thermodiffusive separation amplifies with increased feed concentration up to near-saturation levels as long as the saturation concentration is lower than C = 0.5, as described in Eq. (1), a characteristic advantage of MTD involving highly saline waste streams. This enhances the efficiency of the LBC in separating ions at elevated concentrations, making it a promising candidate for integration into ZLD and MLD systems and advanced brine management in desalination plants. The demonstrated ability of the LBC to operate effectively under hypersaline conditions confirms the potential of the system for industrial deployment where conventional methods face efficiency and energy limitations.Separation sensitivity to LBC flow rateThe performance of the LBC was evaluated across a range of flow rates to understand the effect of throughput on thermodiffusive separation. As shown in Fig. 3b, the outlet concentration profiles were measured for flow rates ranging from 0.6 (,text{mL},,{min }^{-1}) up to 24 (,text{mL},,{min }^{-1}). The lowest flow rate produced a clear and strong separation effect, with a significant concentration difference between the outlets. This larger separation is attributed to a longer residence time within each channel, which allows thermodiffusion-induced concentration stratification to fully develop. As the flow rate increased, a gradual drop in separation performance occurred, showing a tendency to zero separation. This reduction in separation is due to the decrease in the residence time of the fluid in each channel, quantified by the parameter of the separation ratio RC, as described in ref. 10. A reduction in RC (i.e., a partial separation deviating from the fully-developed concentration profile) limits the magnitude of the thermodiffusion-induced concentration difference, but the volumetric flow rate of the process can be increased. If the flow rate is increased beyond the critical Reynolds number, it results in vertical mixing that disrupts the delicate thermodiffusive separation. Interestingly, the separation becomes less sensitive to changes in flow rate after volumetric flow rates of about 5 (,text{mL},,{min }^{-1}) in our setup. Figure 3b reflects this behaviour as a two-stage response as the flow rate is increased: an initial steep decline in the concentration difference followed by a moderate change. Therefore, there is a trade-off in LBC operational flow rate: lower flow rates favour better separation because of a fully developed ion separation, whereas higher flow rates increase system throughput but can reduce the degree of separation. Identifying an optimal flow rate is essential to maximise brine concentration performance without excessively sacrificing yield. More channels in the LBC can compensate for the reduction in concentration difference, reaching optimal values of volumetric flow rate per heat rate (as described in Fig. 4d of ref. 10).3D-printed LBCTo explore scalable and low-cost rapid manufacturing methods, a 3D-printed version of the LBC was developed using thermoplastic polyurethane (TPU) and fabricated using fused filament fabrication. As shown in Fig. 4ai, the printed channels successfully replicated the straight-channel arrangement with a flexible material. In addition to this, an alternative serpentine channel configuration was 3D printed and tested within a similar housing unit to investigate geometrical effects on separation performance. The flexible TPU materials for the channel sidewalls had accurate channel dimensions (±0.01 mm) and simplified the assembly of the LBC, indicating a strong advantage in terms of a reliable assembly without cross-channel contamination (since the TPU can be slightly compressed to improve sealing) and facile manufacturing (compared to CNC machining).Fig. 4: 3D-printed LBC channels and multi-ion solutions.a Photo of 3D-printed multichannel inserts fabricated using flexible TPU filament, featuring two flow configurations: (i) straight channel pattern, and (ii) serpentine channel pattern. These were assembled into the lab-scale LBC device. b Experimental comparison between data obtained with the CNC-machined channels and 3D-printed channels when NaCl feed concentration is 90 ppt. The other test conditions were identical to Fig. 3a: ΔT = 35 K, and (Q=0.6,,text{mL},,{min }^{-1}). ΔC was measured with PSI, and the error bars are propagated uncertainties δΔC. c A multi-ion solution at a concentration of 270.8 ppt was used as the feed for the 3D-printed LBC. The solution is composed of three cations (Na+, Mg2+, and K+) and two anions (Cl− and ({{rm{SO}}}_{4}^{2-})), as indicated in the Methods section. Batches 1 and 2 were separately prepared and passed through the LBC. Inductively coupled plasma-mass spectrometry (ICP-MS) was used to measure concentration of each type of cation with five independent measurements for each sample; error bars represent their standard deviation. d The phase difference, which is indicative of ΔC, as a function of outlet number for Batch 1. The phase difference is proportional to the collective concentration difference of all the ions between two solutions10,12.Full size imagePerformance testing of the 3D-printed straight channel unit under the same experimental conditions as the CNC prototype revealed a high degree of agreement in the obtained concentration difference, as shown in Fig. 4b. The thermodiffusive separation profiles matched closely, confirming that the thermodiffusive separation process remains effective despite possible minor variations introduced by the 3D-printed structure, such as surface roughness. The results also suggest that sufficient temperature stratification and flow stability were maintained in the printed setup. These findings establish the viability of 3D printing as a rapid prototyping method for LBC design refinement and demonstrate its potential for cost-effective, large-scale manufacturing. The added flexibility in channel design and material choice makes this approach particularly attractive for future development aimed at field deployment and customisable liquid separation applications for a variety of solutions and mixtures. The 3D-printed TPU prototypes were tested under controlled laboratory conditions over several test days to demonstrate proof of concept. During these tests, no measurable performance degradation was observed due to scaling or corrosion. A simple cleaning procedure—flushing the system with deionised water and drying the channel surfaces with airflow—was applied at the end of each test day to maintain short-term operability. We note that long-term durability, fouling behaviour, and chemical resistance in hypersaline and chemically aggressive environments remain critical challenges and will be addressed in future work.Full-scale LBC with design improvementsAn in-house MATLAB code19, made open-source, was used to model the thermodiffusive separation throughout the LBC including individual channels and to visualise the concentration distribution in the LBC in terms of the average concentration of each channel. The simulation results are shown in Fig. 5a for the lab-scale LBC having 4 × 4 channel pairs. The table on top of the figure compares the measured experimental values of concentration (same data as in Fig. 3a, which was presented as concentration differences) and the modelled values for a feed concentration of 210 ppt. The excellent agreement between simulation and experimental results validates our in-house modelling tool. This is thus expanded to model full-scale LBCs. The serpentine configuration shown in Fig. 4 and the full-scale LBC analysis presented in this study were designed to demonstrate that the LBC concept can be enlarged without altering its fundamental operational requirements. In principle, larger-scale implementations can achieve modelled performance by proportionally scaling the pumping and heating/cooling units with the device channel area. The current study is based on a system-level energy balance (Fig. 2d) and supported by a separate ongoing techno-economic analysis15, providing meaningful projections. While this work is limited to lab-scale demonstrations and simulations, these results establish a foundation for assessing integration constraints and operational considerations in future studies.Fig. 5: Numerical results of concentration in LBC channels.Based on simulation, the average concentration in each channel of the LBC is calculated. a The concentration within the lab-scale LBC at the experimental conditions: ΔT = 35 K, NaCl aqueous solution at C0 = 210 ppt, concentration profile is fully developed in each channel ((Q < 0.6,,text{mL},,{min }^{-1})). The first row above the concentration contour plot shows the numerical results of the concentration from each outlet, while the second row is the experimental measured concentration of each outlet. The third row is the relative difference between simulation and experimental results. b The average concentration within a full-scale LBC with 100 × 20 channel pairs under the same experimental conditions as in a. A linear temperature profile was implemented in the simulation. The highest concentration within the LBC is near-saturation C > 250 ppt, while the lowest concentration is around 170 ppt. c The average concentration within a full-scale LBC having the same number of channels as in b. The linear temperature range is RT = 60% and concentration development ratio is RC = 0.78 for the partially developed flow. The ΔT = 35 K, seawater at C0 = 150 ppt. The highest concentration within the LBC is near-saturation C > 250 ppt, while the lowest concentration is around 80 ppt.Full size imageIn Fig. 5b, under the same temperature difference (a positive quasi-linear temperature with ΔT = 35 K) and RC = 1 as in the lab experiment, a significant concentration change is achieved with 100 × 20 channel pairs. Our model can also calculate the important parameter ({rm{SEC}}) that measures the energy efficiency. For this work, we aim at minimising ({rm{SEC}}) without considering thermal energy recovery. More details about the energy balance and the modelling are available in the Methods section. Briefly summarising, to reduce ({rm{SEC}}), a species developing flow configuration within each channel can be considered an operational improvement. A partially developed concentration profile means a shorter fluid residence time within each channel (as experimentally shown in Fig. 3b) but the reduction in separation should be compensated for with more channels for the same end-point concentration change. This partial separation is characterised by the concentration development ratio RC = ΔC(Q)/ΔCfd. For example, in Fig. 3b, when the concentration profile is fully developed, the volumetric flow rate is less than (Q=0.6,,text{mL},,{min }^{-1}) and ΔCfd for outlet 1/2 is 6.7 ppt, while ΔC from the same outlet is 3.4 ppt for (Q=6.0,,text{mL},,{min }^{-1}). Thus, RC = 0.51 for (Q=6.0,,text{mL},,{min }^{-1}) while the residence time of the fluid is reduced to 10%. Note that changing RC has a negligible effect on the heat flux. Based on our previous work (Fig. 4d of ref. 10), we identified that RC ≈ 0.78 increases the volumetric flow rate to 250% compared to the baseline RC = 1. It also achieves a reduced ({rm{SEC}}) equal to about 40% of that of RC = 1.Importantly, a hardware-based improvement using u-shaped heating/cooling boundaries was implemented to decouple the no-flow boundary condition at the upper/lower wall boundaries from lowest/highest concentration. A linear temperature profile, as shown in the insets of Figs. 1b and 5b, results in a quasi-linear vertical concentration profile, which coincides with the zero velocity at the boundaries (due to the no-slip boundary condition). In this case, the lowest and highest concentration fluid cannot be extracted, which greatly reduces the effectiveness of the LBC. To change this unfavourable configuration, the linear temperature profile in the channel can be altered by partially changing the sidewall material, as shown in Fig. 5c inset. This can be done by etching into the metal upper and lower walls during CNC machining, or by additive manufacturing (e.g., 3D printing) of conductive materials. We previously investigated the effects of u-shaped heating and cooling on LBC performance10. We defined the linear temperature range RT as the percentage of the total height of the channel that contains the linear temperature profile. When RT ≈ 60%, the yield flow rate per heat rate is maximised (Fig. 5 of ref. 10), thus a minimum ({rm{SEC}}) is achieved. Figure 5c shows the concentration profile in an LBC of the same footprint area, number of channel pairs, and temperature conditions as in Fig. 5b, but under optimal parameters of RT = 60% and RC ≈ 0.78 for most conditions. A much more pronounced concentration change can be achieved, around two times compared to the case without improvements in Fig. 5b, and this is accompanied by an yield flow rate increase to around 2.5 times. The ({rm{SEC}}) when the feed is seawater has been presented in Fig. 6 of ref. 10. MTD is more energy efficient under certain conditions. For desalination (Supplementary Fig. 12a10), the LBC is more energy efficient than other single-stage thermal desalination methods when C0 > 100 ppt. In contrast, for brine concentration (Supplementary Fig. 12b of ref. 10), LBC is more efficient than evaporation when C0 > 150 ppt. When considering a system at moderate high pressure of 15.51 bar (Supplementary Fig. 1310), ({rm{SEC}}) is significantly reduced and the MTD for brine concentration becomes more energy efficient than other single-stage thermal methods for almost any feed concentration.Other types of concentratesBased on literature values for the Soret coefficient and isothermal diffusion coefficients, we extended the numerical analysis to other types of concentrates that have high added values. Lithium brine (LiCl20,21, LiI22), potash brine (KCl23,24, K2SO425,26), and sodium hydroxide (NaOH) aqueous solutions23,27 were modelled. The channel height was 1 mm. Our modelling results show that ({rm{SEC}}) for these concentrates is comparable to or lower than those for the seawater brine. The ST and D used for each concentrate are stated in the caption of Fig. 6 while other fluid properties, including dynamic viscosity and thermal conductivity, were those of water at 50 °C. Figure 6a–c (upper panels) shows that with increasing ST (from left to right), the required number of channels to reach Cyield = 250 ppt from C0 = 150 ppt significantly decreases. This also indicates a much higher flow rate per unit LBC channel area Q/A (excluding the footprint area where parasitic losses occur).Fig. 6: The performance of LBC for different concentrates obtained through modelling.The modelling conditions are RT = 60%, RC and recovery rate are selected from a parametric study to find the minimal ({rm{SEC}}). More details on the modelling are available in the Methods section. The LBC concentration profile that increases 150 ppt to 200 ppt is shown in the upper panels. The specific energy consumption ({rm{SEC}}) (lower panels) is shown. a Simulation for lithium iodide (LiI) aqueous brine with properties of ST(25 °C) = − 2.5 × 10−3 K−1 and D(25 °C) = 2 × 10−9 m2 s−1, as in ref. 22. b Simulation for potash (K2SO4) aqueous brine with properties of ST(25 °C) = 3.61 × 10−3 K−1, as in ref. 26, and D(25 °C) = 1.35 × 10−9 m2 s−1, as in ref. 25. c Simulation for sodium hydroxide (NaOH) aqueous concentrate with ST(25 °C) = 10 × 10−3 K−1 and D(25 °C) = 1.23 × 10−9 m2 s−1, as in refs. 23,27. All Soret and mass diffusion coefficients are evaluated at 50 °C assuming they follow the same temperature dependence trend of the Soret and mass diffusion coefficients for aqueous NaCl34. The yield flow rate per channel footprint area in the LBC is 0.32, 0.34 and 0.78 m3m−2day−1 for LiI, K2SO4 and NaOH, respectively.Full size imageThe analytical relationship between flow rate and the number of rows in an LBC was previously derived for fully developed concentrations under a linear vertical temperature profile, (Qpropto frac{A}{hM}), where A, h, and M are the footprint area, height and the number of rows of LBC, respectively (Eq. 4 in10). Although an analytical solution cannot be derived for temperature-dependent thermophysical properties and RC ≠ 1 and RT ≠ 1, we can model the concentration profiles in the LBC (Fig. 6a upper panels) and the corresponding ({rm{SEC}}) values as a function of feed and yield concentrations are shown in Fig. 6 lower panels. We found that due to the significantly higher ST of the NaOH aqueous solution, the LBC-based concentration of NaOH is feasible: a significant concentration change is possible within an LBC with very few channels, similar to that of a lab-scale LBC. We note that a much larger channel area and anti-corrosion material are required. The ({rm{SEC}}) showed a relatively low value compared to the theoretical minimal ({rm{SEC}}) at 630 k W h m−3 for single-stage thermal evaporation without heat recovery. This is a promising future development direction for liquid separation applications based on LBC, as NaOH is a chemical, essential in many industrial processes such as the extraction of aluminium from ores28, and is widely used around the world.The volumetric flow rates of yield in Fig. 6 top panels were 0.32, 0.34, and 0.78 m3m−2day−1 for LiI, K2SO4, and NaOH, respectively. In contrast, conventional evaporation methods, even when enhanced by optimised interfacial evaporation, typically yield much lower flow rates, approximately 0.02 m3 m−2 day−1  (ref. 29) and up to 0.035 m3 m−2 day−1 in more recent work30 (assuming 8 h operation). Moreover, the modular design of our LBC system allows for vertical stacking, significantly reducing the required footprint area. This, combined with the high volumetric flow rate per unit of footprint and a comparable ({rm{SEC}})10, highlights the strong potential of MTD as a viable and efficient alternative to evaporation-based desalination technologies.ST is perhaps the most important thermophysical property that affects ({rm{SEC}}) for all conditions. ST could also affect another important performance metric of the LBC, Q/A. This is because fewer channels are required with higher ST to achieve a certain Cyield. Another important assumption that has been used in these modelling results is a perfect top–bottom flow split at the end of each channel of the LBC, i.e., the fluid flow bifurcates at the horizontal midplane into the top half and the bottom half (inset of Fig. 1b). This is called a “perfect split” as the species are separated by a horizontal midplane under a vertical temperature gradient. On the other hand, if the flow is split by a vertical midplane, no concentration difference would be achieved between the two outlet streams. The assumption of “perfect split” is valid for the lab-scale LBC prototype presented in this study due to the excellent agreement between the experimental and numerical results (Figs. 3 and 4). However, the perfect split may disappear due to scaling and fouling in the channel. Here, we define the split ratio as the concentration difference between the two streams normalised by the concentration difference when there is a perfect split (i.e., horizontal fluid flow as shown in the inset of Fig. 1b). In Fig. 7, the sensitivity analysis is performed varying ST and the split ratio for C0 = 150 ppt and Cyield = 250 ppt.Fig. 7: Sensitivity analysis for varying concentrating from 150 ppt to 250 ppt with LBC.a ({rm{SEC}}) when varying the split ratio and ST. Split ratio is varied between 0.3 and 1 (the latter being a perfect top–bottom flow split at each channel outlet), and the absolute value of ST is varied from 10−3 K−1 to 10 × 10−3 K−1. The previous simulations assuming “perfect split” for seawater and other concentrates in Fig. 6 are labelled. The vertical lines are ST of 2.40 × 10−3 K−1, 2.50 × 10−3 K−1, 3.61 × 10−3 K−1, and 10.00 × 10−3 K−1, corresponding to seawater brine, LiI, K2SO4, and NaOH aqueous solutions, respectively. b ({rm{SEC}}) as a function of the split ratio for four values of ST, representing the types of feed indicated in the legend. c Yield flow rate per unit channel area (Q/A) per day when varying split ratio and ST. D(25 °C) = 1.35 × 10−9 m2 s−1 was used, which is approximately the D of K2SO4. d Q/A is plotted for different D and split ratio is 0.7. Different concentrates are labelled.Full size imageDiscussionThe liquid Burgers cascade (LBC) was experimentally evaluated with a range of NaCl feed concentrations to assess its applicability to brine treatment and solute concentration for potential resource extraction. The results demonstrated the capacity of LBC to process brine with a wide range of feed concentrations, from 70 ppt (typical discharge from reverse osmosis) to a hypersaline salinity of 250 ppt. Our experiments revealed that the LBC produced outlet streams with tangible salinity changes with respect to the feed concentration (exceeding 7 ppt for a relatively small LBC of 4 × 4 channel pairs), demonstrating the potential of thermodiffusive separation to concentrate or desalinate brines. The dual functionality of LBCs—concentrating brine or reducing its salinity—can support zero liquid discharge, save precious water resources in arid regions, and enable the enrichment of valuable materials such as LiI, K2SO4, and NaOH without reliance on large evaporation ponds or industrial evaporators. When the feed water is seawater, the ({rm{SEC}}) as a function of feed and yield concentrations was presented in our previous work10, and an ongoing techno-economic analysis (TEA) shows that multichannel thermodiffusion (MTD) can outperform evaporation ponds for large hypersaline feed concentrations15. Based on the presented ({rm{SEC}}) values in Fig. 6 and the corresponding Q/A, MTD technology applied to seawater and various types of concentrates seems promising, especially when the feed has a high concentration.While this study demonstrates the LBC performance under controlled conditions with various feed concentrations and flow rates, MTD remains a technology in early-stage development with many aspects that need further consideration in a real-environment operation. Critical factors affecting performance include scaling, imperfect stream separation, and biofouling. Initial simulations incorporating scaling effects and sensitivity analysis of flow split ratios provide insights, but long-term operational validation is essential for real-world deployment. Finally, the fabrication and testing of a 3D-printed LBC demonstrated that additive manufacturing enables rapid, low-cost prototyping while maintaining performance comparable to CNC machining. The ability to replicate geometries and explore alternative designs suggests a practical pathway for MTD as a scalable, membrane-free, chemical-free, and evaporation-free technology for the thermal treatment of brines. Addressing operational challenges and design optimisation will be crucial to establish the robustness and readiness of LBC for industrial applications.MethodsLBC manufacturing and assembly: CNC machiningThe upper and lower walls were made of aluminium (Al- Grade 6061 T651) with high thermal conductivity of 167 W m−1 K. The sidewalls were made of polyoxymethylene (POM) with a low thermal conductivity of 0.36 W m−1 K. Since subtractive machining cannot fully access the internal geometry of intertwined channels at the bifurcation points near each channel outlet, the system was split into two symmetric halves, top and bottom, each containing machined semi-channels with a depth of 1 mm. These were aligned and assembled to form the Burgers channel network16. For each half, a 1 mm thick POM sheet was bonded to the aluminium substrate. Aluminium and POM surfaces were prepared by sandblasting with silica abrasive at a grit size of 120 mesh (approximately 125 μm) and chemical etching to ensure strong adhesion. The channels were then machined on the POM layer. On the opposite side of the aluminium blocks, cavities were machined to serve as thermally conductive chambers for heat exchange through which hot and cold water streams are circulated (2d). A thick aluminium wall of 5 mm that separates the water bath and the brine was used, allowing rapid and uniform heat transfer. To assemble the two halves, we aligned and sealed the machined surfaces with EPDM (ethylene propylene diene monomer) O-rings around the outer perimeter of the channel area to prevent solution leakage. A two-piece high-density polyethylene (HDPE) insulation frame was added around the aluminium blocks to reduce heat loss to the ambient environment. Finally, all parts of the assembly were secured as shown in Fig. 2a using stainless steel through bolts, ensuring uniform compression, mechanical stability, and leak-free operation during experimental tests.LBC manufacturing: 3D printingMultichannel LBC structures were fabricated using a Prusa MK4S 3D printer. Several optimisation trials were performed to achieve the desired dimensional accuracy and surface finish across all channels. The final printing time for a high-quality structure was approximately 7 h. The LBC was printed from thermoplastic polyurethane (TPU shore hardness 95A) through fused filament fabrication. TPU was chosen for its flexibility, water resistance, and thermal stability within the operating range of the system. 3D printing was carried out using a printing nozzle size of 0.4 mm with a layer height of 0.1 mm and a print speed of 20 mm s−1 to reduce the spool and improve adhesion between layers. An infill density of 85% was used to ensure high part strength and low porosity. The channel walls were 2.0 mm thick. To avoid using internal support structures that could compromise surface smoothness, aluminium inserts were waterjet-matched to the channel geometry and embedded when the print reached half of its total height. Upon completion, the metal fillers were removed. This approach produced smooth and precise internal channel surfaces, particularly in the delicate bifurcation and separation zones located at the end of each channel.Serpentine LBC designTo investigate the impact of flow path geometry on thermodiffusive separation, a modified version of the LBC with a serpentine channel layout was developed. Instead of the standard straight configuration as originally investigated in this study, the serpentine layout (Fig. 4a) aims to reduce the perimeter of the device for a given area of footprint. The number and size of the channels were kept identical to those in the straight configuration and fabricated using the same 3D printing method and TPU filament. This configuration has smooth 180° bends at the end of a channel pair with curvature radii ranging from 6.0 mm (inner channels) to 30 mm (outer channels) to minimise flow disturbances in the bends. Since ion separation is not expected to occur in the bending regions, the upper and lower walls of these sections were made of 5.0 mm thick POM, providing thermal insulation in the bending regions. This ensures thermodiffusive separation remains confined to the straight segments. The remainder of the serpentine LBC was machined using CNC, following the same material selection and assembly method used for the straight configuration. The assembled unit was then integrated into the existing experimental setup (2a).Experimental setup and procedureThe experiment design provides controlled volumetric flow rates, the temperature difference between the upper and lower walls of the LBC channels, and sample extraction from the LBC outlets. The system included two thermostatic water baths (cooling water bath POLYSCIENCE MXMA15R-30-A12A and heating water bath MA15H135-A12A) to set an approximate and stable temperature difference between the upper and lower walls (the exact value is measured directly with thermocouples). The hot and cold sides were set to target temperatures of 70 °C and 10 °C, respectively, generating a set vertical temperature difference of 40 K across the channels. The flow of brine through the channels was maintained using a peristaltic pump (Kamoer FX-STP2). The volumetric flow rate of the feed solution is set at a constant value of (0.6,,text{mL},,{min }^{-1}) for all tests, except for the separation sensitivity to flow rate tests, where it ranged from 0.6 (,text{mL},,{min }^{-1}) to 24 (,text{mL},,{min }^{-1}). The LBC is placed horizontally and remains physically undisturbed during operation. The channels have a constant cross-sectional area, even at the channel bifurcation.Brine solutions with target concentrations were prepared using laboratory-grade NaCl (measured with the Shimadzu ATX224 analytical balance) dissolved in deionised water. The feed solution was stored in an elevated reservoir relative to the LBC unit, as shown in Fig. 2d, e, enabling gravity-assisted feeding and avoiding air bubbles. A degassing unit is also placed on the feed line to eliminate air bubbles before entering the LBC. The inlet was positioned slightly below the lower channel walls to ensure proper filling, while the five outlets were located at the top of the channels on the opposite side of the unit. These outlets directed the flow into five dedicated collection bottles. Each experiment began with a startup phase lasting approximately 1.5 h to 2 h, during which the system reached steady-state thermal and concentration conditions; any water collected during this phase was discarded. Following stabilisation, the main collection phase commenced and the experiment was continuously monitored for approximately 5 h until all collected yield in the bottles exceeded 40 mL for the three outlets (1+1/2, 2+1/2 and 3+1/2) and 20 mL for the edge outlets (1/2 and 4+1/2). After each experiment, to eliminate the risk of contamination for the next day’s experiment, the LBC channels were flushed with deionised water and then dried with air flow.Measurement of concentration differenceFor binary NaCl/H2O solution, accurate digital interferometry with a temporal phase-shifting technique and a rotating polariser, as described in ref. 18, was used to visualise the transient concentration difference between two solutions extracted from the LBC experiment. A shearing cell experiment (Supplementary Fig. 3 of ref. 10) was used to create a diffusion field between high- and low-concentration solutions. The bottom half of the cell was fixed and filled with the high-concentration solution, while the top half was filled with the low-concentration solution before it was slid on top of the high-concentration solution. Then a one-dimensional diffusion field was triggered between the low- and high-concentration solutions and visualised with phase-shifting interferometry (PSI), similar to ref. 31. From PSI images, the unwrapped phase difference Δψ can be obtained, and it is directly related to ΔC by$$Delta C=frac{Delta psi }{{rm{OP}},{rm{CF}}},$$
    (2)
    where the contrast factor CF describes the relationship between Δψ and ΔC, and OP is the optical path. The CF was experimentally measured based on three replicates. Δψ ranges between 0 and 2Nπ, where N is the number of fringes observed in the phase-shifted data. The typical relative measurement error (δΔC/ΔC) based on PSI and the shearing cell method is less than 10%. This was calculated by error propagation considering the errors in CF and Δψ. OP is a fixed value as the optical setup and the shearing cell were the same in all measurements. The relative error δΔC/ΔC is thus$$frac{delta Delta C}{Delta C}={left[{left(frac{delta Delta psi }{Delta psi }right)}^{2}+{left(frac{delta {rm{CF}}}{text{CF}}right)}^{2}right]}^{0.5}.$$
    (3)
    The error in the unwrapped phase difference, δΔψ, is the standard deviation when Δψ is obtained for each phase-shifted data. Approximately 50 phase-shifted data were taken for each measurement to reduce uncertainty. The typical value of δΔψ was 3.4%. The relative error (frac{delta {rm{CF}}}{{rm{CF}}}) was 5.4% (0.56 ± 0.03π g mg−1 mm) for the PSI using the shearing cell method. Thus, the propagated error for (frac{delta Delta C}{Delta C}) was approximately 10%.Energy consumption of the liquid Burgers cascade({rm{SEC}}) is an essential performance metric for any water treatment method, particularly because desalination or brine concentration are generally considered energy-intensive processes. Here, the calculation of ({rm{SEC}}) of the LBC is presented. We consider only the energy flow in the LBC and the energy equation can be expressed as:
    (4)
    Here, the time rate of increase of the total stored energy of the system is equivalent to the rate of net heat transfer (dot{Q}) and work transfer (dot{W}) into the system, and e is the stored energy per unit mass. For a simplified assumption where the flow velocity is constant and there is no height difference between the inlet and the outlet of the channel, the stored energy can be simplified to be the internal energy so that (e=check{u}) and the left-hand side of the equation can be simplified. Here, the change in internal energy is due to two factors: the change in temperature and the change in salinity. That is (check{u}={check{u}}_{T}+{check{u}}_{C}). ({check{u}}_{C}) is the energy gain due to the created salinity gradient and can be calculated in the same way as the well-known thermodynamic limit for desalination (i.e., theoretical minimum energy of separation) based on the Gibbs free energy for separation32. For desalination of seawater, ({check{u}}_{C}) is around 1 kWh tonne−1. However, ({check{u}}_{C}) is dependent on the concentration of feed water and yield, as well as the recovery rate Rw of the separation process. The minimal ({rm{SEC}}) of produced water ({check{u}}_{C}) can be calculated as:$${check{u}}_{C}=2frac{RT}{rho }left[frac{{c}_{{rm{f}}}}{{R}_{{rm{w}}}}ln frac{{c}_{{rm{b}}}}{{c}_{{rm{f}}}}-{c}_{{rm{y}}}ln frac{{c}_{{rm{b}}}}{{c}_{{rm{y}}}}right],$$
    (5)
    where c is the molar concentration and subscript f, y, b denotes feed, yield and the brine discharge, respectively. R is the gas constant and T is the absolute temperature. When cf and cy are known, then ({c}_{{rm{b}}}=frac{{c}_{{rm{f}}}-{R}_{{rm{w}}}{c}_{{rm{y}}}}{1-{R}_{{rm{w}}}}) based on mass conservation. The above equation can be further simplified:$${check{u}}_{C}=2frac{RT}{rho }left[frac{{c}_{{rm{f}}}}{{R}_{{rm{w}}}}ln frac{{c}_{{rm{f}}}-{R}_{{rm{w}}}{c}_{{rm{y}}}}{{c}_{{rm{f}}}(1-{R}_{{rm{w}}})}-{c}_{{rm{y}}}ln frac{{c}_{{rm{f}}}-{R}_{{rm{w}}}{c}_{{rm{y}}}}{{c}_{{rm{y}}}(1-{R}_{{rm{w}}})}right].$$
    (6)
    ({check{u}}_{C}) is less than 20 kWh tonne−1.Now we consider ({check{u}}_{T}) due to the change in temperature. For incompressible flow,$${check{u}}_{T}=frac{1}{h}mathop{int}nolimits_{0}^{h}{c}_{p}(T(y)-{T}_{{rm{f}}})dy,$$
    (7)
    where cp is the specific heat capacity at constant pressure and ({check{u}}_{T}approx 40,,text{kWh},,{text{tonne}}^{-1}).The work rate (dot{W}) is only related to the fluid pressure P acting on the control surface, and in the case of the LBC:$$dot{W}={int}_{{rm{cs}}}-P{bf{u}}hat{n},,text{d},{A}_{{rm{cs}}}=Q(-{P}_{{rm{in}}}+{P}_{{rm{out}}}),$$
    (8)
    where Acs is the control surface area normal to the flow direction and Q is the volumetric flow rate. Therefore, the only electrical energy input into the TSU channel is related to the operation of the pumps to overcome the pressure drop. For a rectangular channel, the pressure drop ΔP can be calculated as:$$Delta P=ffrac{l}{{D}_{{rm{h}}}}frac{rho {V}^{2}}{2},$$
    (9)
    where f is the friction factor that can be calculated based on the aspect ratio w/h of the individual channel; lowercase l, w, h denotes the length, width, and height of the channel, respectively. The hydrodynamic diameter Dh is calculated as ({D}_{{rm{h}}}=frac{2wh}{w+h}).To verify the pressure drop analytical solution, we compare it with a high-fidelity CFD that was performed for the gas Burgers cascade in the literature33. The pressure drop through the gas Burgers cascade is 7.9 Pa as reported in ref. 33. The total pressure drop can be calculated as ΔP × 2M × N when ignoring the impedance imposed by the bifurcation and recombination structure at the ends of each channel, and we obtain a total pressure drop of 6.5 Pa for the CO2/H2 gas Burgers cascade. Therefore, the analytical solution provides a good approximation for the pressure drop in the Burgers cascade. The pressure drop is always less than 1 bar for a reasonable large LBC (Supplementary Fig. 13 of ref. 12).Starting with an individual channel, ({dot{Q}}_{{rm{in}}}) is the heat rate that sustains the temperature gradient across the channel height. ({dot{Q}}_{{rm{in}}}) can be approximated with the one-dimensional Fourier’s law for heat conduction.$${dot{Q}}_{{rm{in}}}=kAfrac{Delta T}{h{R}_{{rm{T}}}},$$
    (10)
    where RT is the ratio of the height with a linear temperature gradient. A is the lateral area of the LBC. Now the energy balance of the LBC, Eq. (4), can be rearranged with the energy inputs on the left-hand side:$${dot{Q}}_{{rm{in}}}+dot{W}=Qrho ({check{u}}_{C}+{check{u}}_{T})+{dot{Q}}_{{rm{out}}}.$$
    (11)
    Note here Q is the volumetric flow rate, while (dot{Q}) is the heat rate. This is shown by the Sankey diagram in Fig. 2c. The ({rm{SEC}}) is calculated considering only ({dot{Q}}_{{rm{in}}}):$${rm{SEC}}=frac{{dot{Q}}_{{rm{in}}}}{Q}.$$
    (12)
    We see that ({rm{SEC}}) is based on idealised conduction modelling without considering parasitic losses of heat to the environment. For the lab-scale LBC, approximately 50% of heat is transferred through the water due to an unnecessarily large sidewall structure (see Methods of ref. 10). That is, under realistic conditions, the actual ({rm{SEC}}) could be twice as large as reported. However, it is also important to note that we did not consider any heat recovery for ({dot{Q}}_{{rm{in}}}), which could lead to significant reduction in ({rm{SEC}}) as well, nor improved designs with reduced sidewall structure.Liquid Burgers cascade modellingOur in-house MATLAB code (version 8c), which is open source19, can calculate the specific energy consumption (({rm{SEC}})) and the volumetric flow rate of the yield per unit area ((frac{Q}{A})) of a full-scale LBC based on user input. The first step requires the user to determine the input parameters, including temperature difference (ΔT), mean temperature (Tmean), Soret and mass diffusion coefficients at room temperature (ST(25 °C)), D(25 °C), and feed concentration C0. Importantly, a potential type of degradation is due to scaling, the accumulation of solids on the channel walls, and acts as an additional thermal barrier that reduces the effective temperature difference in the liquid phase, ΔTf. The effect of scaling on ΔTf can be evaluated with a one-dimensional thermal resistance network that includes scales on both the upper and lower walls of the channel and considers the temperature difference in the scales and liquid. The heat flux through the scales and liquid is:$$q=frac{Delta {T}_{{rm{f}}}}{{R}_{{rm{f}}}}=frac{Delta {T}_{{rm{s}}}}{{R}_{{rm{s}}}},$$
    (13)
    where ΔTs is the temperature difference in the scales. The thermal resistance of the scales on each side is Rs = ts/ks, where ts and ks are the thickness and thermal conductivity of the solid scales, respectively. The thermal resistance of the liquid when the flow speed is relatively low can be approximated by ({R}_{{rm{s}}}=left(h-2{t}_{{rm{s}}}right)/{k}_{{rm{f}}}), where h is the height of the channel and kf is the thermal conductivity of the fluid.$$Delta T=2Delta {T}_{{rm{s}}}+Delta {T}_{{rm{f}}}$$
    (14)
    We can then derive the following ratio.$$frac{Delta {T}_{{rm{f}}}}{Delta T}=frac{{k}_{{rm{s}}}(h-2{t}_{{rm{s}}})}{{k}_{{rm{s}}}h-2{k}_{{rm{s}}}{t}_{{rm{s}}}+2{k}_{{rm{f}}}{t}_{{rm{s}}}}$$
    (15)
    This ratio is a code input that ensures the target Cyield is still achieved even when scaling occurs. Moreover, when the scaling is not as severe as in the modelled LBC case, the feed can pass through the LBC faster (reduced RC) so that the same Cyield is achieved, but with a higher Q/A.The changes in ST and D reflect different species. The code can also vary the split ratio that indicates how perfect the flow bifurcation is at the end of each channel (Fig. 1b and Supplementary Fig. 6 of ref. 10). The split ratio accounts for flow dynamics, scaling, and fouling.A range is first defined for feed and yield concentrations ranges, C0 and Cyield, through which the code iterates. From the second step forward, all calculations are captured by the in-house code, and no further user input is required. In the second step, the code calculates the concentration difference between boundaries, ΔC0,wall. The mass flux J under thermodiffusion is given by Eq. (1). Thus in steady state when J = 0, ΔC0,wall can be approximately to be ΔC0,wall = ST(Tmean)ΔTC(1 − C), when a linear temperature profile is considered. Also, τ, the time for concentration profile to fully develop, can be calculated as:$$tau =frac{{h}^{2}}{{pi }^{2}D({T}_{{rm{mean}}})}.$$
    (16)
    Both ST and D are assumed to follow the same temperature dependency of that of NaCl/H2O34 so that ST(Tmean) and D(Tmean) can be calculated.In the third step, two lookup tables are produced, one for the developing concentration profile (RC) and another for the non-linear vertical temperature profile (RT) created by the u-shaped conductive boundaries. Previously, based the characteristic of the transient concentration behaviour, in which the separation first develops quickly and then gradually approaches steady state (Fig. 4c of ref. 10), we see that partial separation in a concentration developing flow can allow for higher flow rates even when achieving the same concentration drop with more channels (Fig. 4d of ref. 10). To include the effect of a developing concentration profile, the first lookup table between RC = ΔC0,wall(t)/ΔC0,wall(τ) and t/τ is produced. RC has little impact on ({dot{Q}}_{{rm{in}}}) but affects ({rm{SEC}}) via Q as in Eq. (12). The non-linear temperature profile improves separation by decoupling the lowest or highest concentration from the zero-velocity at the top and bottom boundaries (Fig. 5a of ref. 10). For a linear C profile and a parabolic velocity profile, concentration difference between the top steam and the bottom stream ΔC0 is (frac{Delta {C}_{0,{rm{wall}}}}{4.32}) (Supplementary Fig. 14a of ref. 10). Based on the RT lookup table (Fig. 5b of ref. 10), we now obtain (Delta {C}_{0}^{{prime} }), which is larger than ΔC0. We noticed that symmetric RT = 60% results in the lowest ({rm{SEC}}) for different RC (Fig. 5c of ref. 10). Thus RT = 60% is used. However, it is worth noting that when using non-linear temperature profile assumption, the channel cross section has to have an aspect ratio (width/height) below 0.5 (Supplementary Fig. 4 of ref. 10). For each combination of C0 → Cyield a parametric study of recovery rate RW and RC is performed. All combinations of RW between 20% and 80% with a step of 5% and RC between 0.5 and 1 with a step of 0.1 are examined to find the minimal ({rm{SEC}}). For desalination, the optimal RW is typically in the range of 50–60%, while the optimal RW for brine concentration is typically of 20–30% (Supplementary Fig. 9 of ref. 10).Now in the fourth step, we begin mapping the concentration in all channels within the LBC to meet the desired Cyield, starting with a certain C0. Based on Eq. (1), when the feed concentration at the channel inlet is Ci,j, (Delta {C}_{i,j}approx Delta {C}_{0}^{{prime} }frac{{C}_{i,j}(1-{C}_{i,j})}{{C}_{0}(1-{C}_{0})}). Separation can be determined without calculating or modelling the concentration profile in each channel. For the first row where i = 0.5, C0.5,j = C0. Then we propagate the concentration in the direction of fluid flow. For any i = n, the concentrations in the two half-channels on the edges are Cn,1/2 = Cn−1/2,1 + ΔCn−1/2,1, Cn,N+1/2 = Cn−1/2,N − ΔCn−1/2,N and for all channels in the middle, Cn,j = [(Cn−1/2,j−1/2 − ΔCn−1/2,j−1/2) + (Cn−1/2,j+1/2 + ΔCn−1/2,j+1/2)]/2. When i = n + 1/2, for the two full channels at the edges, Cn+1/2,1 = [Cn,0.5 + (Cn,1+1/2 + ΔCn,1+1/2)]/2 and Cn+1/2,N = [(Cn,N−1/2 − ΔCn,N−1/2) + Cn,N+1/2]/2, and for all channels in the middle, Cn+1/2,j = [(Cn,j−1/2 − ΔCn,j−1/2) + (Cn,j+1/2 + ΔCn,j+1/2)]/2. This calculation continues until i = M, and the concentration is calculated in all LBC channels.In the fourth step, the number of rows (M) and columns (N) are optimised so that the flow rate is maximised while satisfying the concentration drop requirement. In our previous work (Eq. 4 of ref. 10), we found that when the operating conditions are kept unchanged (including C0, ΔT, Tmean, ST, D, RC, and RT), minimising M will improve energy efficiency:$$frac{Q}{A}propto frac{1}{hM},qquad {rm{SEC}}propto {M}^{-1}.$$
    (17)
    In the fifth and last step, ({rm{SEC}}) and Q/A are output as two separate contour plots for a range of C0 and Cyield, which is reported in this article.

    Data availability

    Source data are available through Figshare at https://doi.org/10.6084/m9.figshare.29421782 (ref. 35). All other data supporting the findings of this study are available from the corresponding author upon reasonable request. The code for thermodiffusive separation in multichannel devices developed for this study is available on GitHub36.
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    Juan F. Torres.Ethics declarations

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    J.F.T. and S.X. declare a financial competing interest. They filed an international patent application (No. PCT/AU2025/051021) on the multichannel water treatment device described in the article. J.F.T and S.X. are both affiliated with and hold ownership in Soret Technologies Pty Ltd, which may benefit from the publication of this research. M.M. and O.S. declare no competing interests.

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

    AbstractUncrewed underwater vehicles(UUVs) play an indispensable role in ocean resource efficiency utilization due to their security and cost-effectiveness. However, the significant uncertainties, time-varying disturbances, and unstructured subsea environments pose challenges for UUVs in achieving precise and efficient marine missions. To address these challenges, this study introduces a novel cooperative control framework for UUVs. The proposed framework minimizes the high control efforts of sliding mode control while preserving robustness, enabling efficiency and precision for long-duration dynamic hovering missions of UUVs. Specifically, a key innovation is the development of a deviation separation strategy, which, for the first time, decouples hovering deviations into task-specific and anti-disturbance components using an influence function. This enables real-time disturbance estimation without prior knowledge enabling adaptive disturbance compensation. By cooperating between LQR and SMC, the proposed method avoids the performance conflicts commonly observed in single-controller schemes. This structure improves compensation accuracy, robustness to disturbances, and energy efficiency across various operating conditions. The results demonstrate that the proposed cooperative control strategy effectively counters current perturbations by leveraging the real-time insights from the error segregation, while concurrently executing high-precision hovering tasks with low control costs. This work advances UUVs control, offering a versatile solution for complex underwater tasks.

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    IntroductionThe Earth’s surface is overwhelmingly aquatic with 71% submerged in oceans, rivers, and lakes, most of which remain unexplored. These underwater bodies host resource-rich ecosystems that significantly impact human life, both directly and indirectly1,2. As the depletion of land-based nonrenewable resources accelerates, the imperative to comprehensively explore and exploit these ocean resources is intensifying for human advancement. To unlock these ocean resources sustainably, researchers and scholars have developed advanced technologies such as underwater vehicles named “Jiaolong” equipped with intelligent systems3,4. However, the deep-sea environment is characterized by unstructured terrain, extreme hydrostatic pressures, and unpredictable disturbances, which inevitably compromise operational efficiency and pose significant safety risks for manned submersible vehicles. Consequently, uncrewed underwater vehicles (UUVs) have garnered growing attention owing to their enhanced safety and cost-efficiency in the exploration and sustainable utilization of underwater resources5,6.Up to now, UUVs have been widely applied in many marine tasks such as ocean exploration, seafloor mapping, deep water mining, etc7,8. In the above-mentioned applications, control, planning, and localization are all important9,10. Among them, control is the core because no operators are inside the UUV to make adjustments11,12. In the above-mentioned applications, designing a reliable controller is essential for successful marine tasks due to the absence of operators inside the UUV to adjust the vehicles to arrive at the desired position. Some efforts have been made to integrate the advanced control strategies into UUVs13. For instance, a 6-degree-of-freedom (DOF) UUV has been successfully implemented with a classical proportional-integral-derivative (PID) control algorithm to accomplish precise trajectory tracking tasks14. Following a similar framework, researchers also proposed an enhanced PID algorithm and demonstrated its efficacy in depth-tracking missions for the hovering UUV15. Moreover, a novel PID approach coupled with computational fluid dynamics is developed for UUVs to enable precise trajectory tracking while ensuring constant velocity16. Despite the straightforward implementation of PID algorithms in UUVs, their broader application is hindered by the intricate challenges of parameter optimization and their inherent limitations in complex tasks.To address these limitations, the linear quadratic regulator (LQR) is introduced for UUVs to solve the control inputs by optimizing a cost function, subject to the performance objectives of complex missions. The LQR method is proposed for UUVs, yielding a 32.04% improvement in tracking performance compared to the traditional PID algorithm17. Given the excessive optimization time per control step in complex nonlinear systems, a novel path-following LQR approach is proposed, utilizing a simplified deep deterministic policy gradient algorithm to enhance computational efficiency and control precision18. Furthermore, a prescribed-performance fuzzy LQ fault-tolerant control framework is presented for UUVs, tailored for three-dimensional trajectory tracking in complex marine environments19. The developed scheme effectively mitigates unknown actuator faults, thereby ensuring precise control performance under adverse operational conditions.The primary focus of the discussed control strategies has been to maintain the vehicles as closely as possible to their desired trajectories under ideal conditions. However, UUVs often navigate in highly uncertain and unknown circumstances, which may reduce the efficacy of these approaches and even result in complete operational failure. In particular, thrusters’ performance variations, payload changes, and tether drag altering will lead to high degree uncertainties of UUVs’ parameters. Then, the effectiveness of control strategies, depending on accurate models, is drastically limited. On the other hand, UUVs inevitably suffer from the currents and waves caused by tidal energy and topographical undulations in the deep sea. These disturbances can also result in unregulated and unpredictable movements of UUVs20,21. Therefore, designing a high-performance controller to compensate for the influence of uncertainties and disturbances is crucial for UUVs motion.To handle the above challenges, the sliding mode control (SMC) based control framework emerges as a highly suitable approach for high-precision missions of UUVs22. In SMC, the control law is designed and imposed through a sliding manifold23. The high-frequency switching input mechanism inherent in SMC enables rapid compensation for perturbations, ensuring system stability and consistent performance despite parametric variations and external disturbances. Given this advantage, SMC is widely applied in UUVs control24,25. Liu and Zhang proposed a terminal SMC by integrating a piecewise error transformation into the sliding manifold, effectively compensating for hydrodynamic disturbances in marine systems26. For the precise position regulation of remotely operated UUVs, an SMC scheme integrating time-delay estimation is presented to address hydrodynamic disturbances effectively27. Aiming to compensate for the bounded disturbances while minimizing control chattering, a hybrid control strategy combining integral sliding mode and super-twisting algorithm for precise 3D trajectory tracking of 4-DOF UUVs is developed28. Despite the demonstrated efficacy of SMC algorithms in UUVs, it requires high control efforts. This expensive control cost is primarily driven by the necessity for continuous high-gain switching to maintain system trajectories on the sliding manifold. Moreover, the tracking accuracy often experiences significant degradation under extreme hydrodynamic loading conditions due to the fixed feedback gain parameters inherent in SMC, which lack adaptability to dynamic environmental variations.In fact, UUVs commonly need to perform ocean missions for several hours in different regions. Throughout this period, UUVs are subjected to a variety of operational environments, including disturbance from ocean currents, modifications in seabed topography, the tranquility of calm sea surfaces, etc. Each environment imposes different primary control objectives. For instance, strong robustness is required when the ocean current occurs, and high control accuracy and low control cost are preferable in the calm deep sea. However, it is difficult for a single control strategy to satisfy all the control objectives mentioned above during the whole mission period. Therefore, how integrating multiple control methodologies into a unified hybrid framework to preserve the strengths and complement its drawbacks could be a very promising solution for UUVs missions. This is the primary motivation of this study.Recently, advances have been made to enhance robustness and adaptability under complex underwater conditions. For example, a distributed tube model predictive control (tube-MPC) is used to handle communication delays and disturbances of multiple UUVs under dynamic marine environments29,30. To address the low-visibility conditions in controlling heterogeneous multi-UUV systems, researchers used graph-based models and relative states to achieve robustness and real-time performance in simultaneous localization and mapping31,32. Recent papers also combine integrating event-triggered MPC, nonlinear Lyapunov control, and collision avoidance to enhance tracking accuracy, safety, and computational efficiency when facing current disturbance16,33.Motivated by these developments, this study proposes a cooperative control (COC) framework that combines the SMC algorithm’s strong robustness and rapid responsiveness with the high accuracy and low control cost offered by LQR. Specifically, a deviation separation approach is developed for the first time to segregate the errors during UUVs mission. Based on the real-time error separation result, the deviation from the current disturbance is rejected by the SMC, and LQR achieves the precise hovering task. Through this approach, UUVs equipped with the proposed COC framework can better address varying operational challenges and fulfill diverse mission objectives. Contributions of this work are summarized as follows:

    (1)

    A novel COC protocol is developed for UUVs to adeptly maintain the superior robustness of SMC architecture while meticulously leveraging the efficacy of LQR to mitigate its inherent high control efforts and frequent switching. With the designed cooperative framework, the controlled UUVs can perform underwater missions efficiently and precisely with low control consumption for long operation duration.

    (2)

    A deviation separation strategy is introduced for the first time to address the challenge of coupling underwater missions. By leveraging the influence function, we establish an analytical relationship between variations in disturbances and corresponding changes in control performance, enabling the estimation of disturbances based on control outcomes. Consequently, the deviation in hovering within the marine environment is decoupled into two sub-deviations: one corresponding to the hovering task and the other to the anti-disturbance task. This strategy facilitates the design of a tailored controller for each decoupled task, thereby enhancing overall system performance.

    (3)

    This proposed controller can mitigate a wide range of disturbances without requiring prior knowledge, such as the size or source of the ocean disturbance. The disturbance is estimated at each point in real-time using the deviation separation strategy. Consequently, the controller can effectively compensate for the effects of the disturbance without the need for additional information. This approach ensures that the controlled UUVs remain stable, even in the event of a failure of one of the sub-controllers.

    Results and discussionsThe hovering of UUV plays a crucial role in various underwater missions. As shown in Fig. 1, the primary objective is to maintain the position (x, y, z) and orientation (ϕ, θ, ψ) at a desired pose while performing tasks such as object retrieval, device connection, or underwater docking. During these processes, the UUV’s previous motion state and the ocean currents’ movement can significantly impact the pose in the next moment. As a result, two primary challenges emerge for UUV underwater operations: maintaining hovering at the desired pose and counteracting current disturbances. We address the coupled tasks of hovering and disturbance suppression. A variety of complex underwater missions, including military reconnaissance, hull inspection, scientific exploration, and fisheries, can be analyzed as different combinations of these fundamental control subtasks, with UUV hovering and anti-disturbance being a consistent requirement across them. This classification framework distinguishes itself from traditional, application-centric approaches by prioritizing the fundamental control of the UUV’s motion states.Fig. 1: Overview of the UUV underwater hovering mission.The vector [x, y, z, ϕ, θ, ψ]T represents the pose of the UUV in the inertial reference frame, where x, y, z denote the position, and ϕ, θ, ψ represent the pitch, roll, and yaw angles, respectively. The velocity vector [u, v, w, p, q, r]T in the body-fixed frame is composed of the linear velocities u, v, w, and the angular velocities p, q, r. The total disturbance affecting the system consists of both current disturbance and thruster noise, which significantly impact the hovering task, causing the UUV to deviate from the desired pose.Full size imageCurrent disturbances can be attributed to two primary sources. The first is wind-driven currents, generated by wind forces acting on the ocean surface. These currents typically weaken with increasing depth, with the affected depths extending several hundred meters. The second source of disturbance arises from changes in seawater temperature and salinity, which alter the density distribution of the ocean. These variations cause discrepancies between the ocean’s isobaric and equipotential surfaces, thus generating ocean currents. Such disturbances primarily affect the forces and moments acting on the UUV, leading to deviations in the control inputs generated by the thrusters. In addition to the current disturbance, random noise can also arise from various independent events, such as the collapse of tiny bubbles produced by the thrusters. Although this kind of noise typically has a minimal impact on the UUV’s overall performance, continuous correction is necessary to prevent the accumulation of errors over time.Related research indicates that the abovementioned disturbances can be mitigated using SMC, which applies continuous high-gain thrust to counteract current disturbances. On the other hand, optimal strategies such as the LQR can effectively address the hovering tasks influenced by thruster noise. However, SMC treats all deviations as significant disturbances, applying high-gain thrust continuously, resulting in inefficient energy consumption. While LQR is more thrust-efficient for hovering tasks, it fails to suppress current disturbance. Therefore, in practical scenarios, relying on a single control strategy cannot simultaneously meet the multiple critical objectives of low power consumption, robust anti-disturbance performance, and high precision for UUV hovering tasks.To address this, we propose a COC strategy, as illustrated in Fig. 2, which combines the robust and rapid responsiveness of the SMC algorithm with the energy efficiency of LQR. By employing a deviation separation mechanism, we decompose the complex task of maintaining the UUV’s desired pose in dynamic ocean environments into two distinct sub-tasks: the traditional hovering and anti-disturbance tasks. We then design two sub-controllers (LQR and SMC) tailored to each task based on their strengths. Finally, the thrust outputs from both sub-controllers are integrated and constrained through engineering techniques to form the cooperative controller, ensuring optimal performance while maintaining robustness.Fig. 2: Cooperative control (COC) framework.This framework operates through a workflow initiated by the central computational host, which broadcasts predefined pose information to the entire system. The deviation between the current and desired pose is quantified and decomposed into two sub-deviations using the deviation-separation algorithm. The sub-controllers, SMC and LQR, compute the thrust based on these sub-deviations. The resulting thrust inputs are integrated and modulated within predefined limits before being transmitted to the thruster system. This ensures the precise application of forces and moments to the UUV, thereby aligning its behavior with the intended dynamics.Full size imageTo evaluate the engineering feasibility of the proposed COC strategy, a computational analysis was performed on a standard desktop platform (Intel Core i7-13700F, 16GB RAM). All algorithms—including deviation separation, LQR, and SMC sub-controller computations—were implemented discretely with a fixed control cycle corresponding to a 1 Hz sampling frequency over 2000 steps. Under these conditions, the total execution time of the entire simulation was 20.687 s, while the cumulative execution time for all control loop computations was measured to be 0.124 s. This duration includes all control matrix operations, sliding surface evaluations, and separation matrix computations, amounting to less than 0.5994% of the total available time budget. These results confirm the strategy’s suitability for real-time implementation.Control accuracy comparisons under different control policiesThis section mainly considers the horizontal non-rotational ocean current during the UUVs hovering mission described in Fig. 1. Results and analysis under other interference conditions could be found in Sections S.4–S.6 of the supplementary file. Referred to reference34, the total disturbance is a combination of current disturbance (a sine function with an amplitude of 1 and a frequency of 5 Hz) and thruster noise (a standard Gaussian distribution signal). The initial pose of the UUV is set as [45, 45, 110, 0, 0, 0]T, representing its starting position and orientation in the global coordinate system, where the first three values denote the position in meters along the x, y, and z axes, and the last three values indicate roll, pitch, and yaw angles in radians. This initial pose simulates the UUV’s offset from the desired hovering location at the start of the mission. The target hovering pose is set as [50, 50, 100, 0, 0, 0]T., representing the desired location and orientation the UUV aims to reach and maintain during the hovering task. Assuming the current disturbance affects the system at the 1000th step. To illustrate the effectiveness and superiority of our proposed COC algorithm, the control performance of SMC and LQR under parameters R = I, Q = 100I, and z = 2 is compared. Detailed mathematical derivations of SMC and LQR algorithms can be found in Sections S.2–3 of the supplementary note.Thrusts computed by LQR, SMC, and COC are applied to UUVs. Figure 3 shows the current and desired pose deviations. The embedded inset figures on certain phases provide a detailed view of a more precise comparison of tracking performance. To better analyze the results, we roughly divide the process into three stages: initial value convergence, stabilization, and anti-disturbance. In particular, during the initial value convergence stage (within 650 steps), the gray lines reach the desired point (zero in this experiment) faster and closer than the blue lines. The above trend indicates that the COC framework has a faster convergence speed and higher steady-state accuracy than LQR. This enhanced performance arises from integrating SMC’s advantages during the initial phase, where COC leverages significant, high-frequency thrust adjustments to rapidly drive the UUV’s posture toward the desired state. By combining the robustness of SMC with the precision of LQR, COC achieves superior dynamic response and stability.Fig. 3: Deviation responses of UUV across all six degrees of freedom under different methods.a illustrates the response of position x, while b depicts the response of position y and c presents the response of position z. d, e, f show the responses of orientation ϕ, θ, and ψ, respectively. The ocean current disturbance is introduced at the 1000th step in all subfigures. The blue, red, and gray lines represent the deviation responses under the LQR, SMC, and COC control strategies.Full size imageIn the stabilization phase (between 650 and 1000 steps), the blue lines in all subfigures converge to within at least 5% of the maximum deviation from the desired state. In contrast, red lines in all subfigures of Fig. 3 other than Fig. 3f remain closer to the desired state but oscillate within 1% of the maximum deviation. This phenomenon indicates a static error exists between the UUVs hovering pose and the desired pose under the control of LQR. Although SMC has no static error, Fig. 3f shows some situations in which the pose states oscillate. During the initial 1000 steps in Fig. 3e, the slow convergence of the blue lines prevents it from reaching a stable state, indicating that LQR struggles to stabilize the system rapidly in the presence of significant initial deviations or sudden disturbances. This limitation stems from LQR’s reliance on an accurate model.The COC framework overcomes the drawbacks of both LQR and SMC, as evidenced by the gray lines’ steady trends in Fig. 3. These lines exhibit smoother trajectories, with reduced oscillation amplitude and frequency compared to SMC, while maintaining more minor pose deviations than LQR. These trends demonstrate that when the deviation state of COC achieves a high accuracy, it does not overreact to minor deviations, which ensures the system will not oscillate. Further, the cooperative mechanism ensures that, once the pose deviation converges within a desired level, the thrust input transfers from a severely oscillating one to an efficient and stable one. Therefore, the COC system only needs a small thrust input to stabilize the system, thereby minimizing control consumption while ensuring accuracy.During the anti-disturbance phase (after 1000 steps), the gray and red lines remain closer to the desired state than the blue lines, demonstrating that both SMC and COC achieve higher steady-state accuracy than LQR. However, the lines of SMC exhibit occasional high peaks and persistent oscillations. For instance, between 1280 and 1360 steps in Fig. 3a, the red line peaks above the blue line, indicating that SMC can induce significant deviations in the pose state. Similarly, in Fig. 3f, the fluctuation of the red line reaches a peak of 70°, indicating that the roll angle of the UUV hull is approaching a critical lateral capsizing threshold. Moreover, the red line in this subfigure oscillates, failing to reach a steady state before subsequent disturbances occur. These issues arise because SMC treats all disturbances as maximum disturbances, often applying high-frequency and high-thrust corrections even for minor disturbances, leading to severe overshoot.However, the gray lines in the same period do not exceed the blue lines, indicating that COC effectively avoids the overshoot problem associated with aggressive control inputs. By utilizing the deviation separation mechanism, the COC framework dynamically modulates the weight ratio between LQR and SMC, effectively mitigating overshoot in the presence of minor disturbances. Ensures robust and precise control, overcoming the inherent limitations of both SMC and LQR in dynamic and uncertain environments.As discussed in the previous section, the effectiveness of the COC framework relies heavily on the performance of the deviation separation mechanism. To vividly illustrate the impact of this mechanism, Fig. 4 compares the separated sub-deviations. It delineates the relative contributions of thruster noise and current disturbance to the total deviation, offering critical insights into the system’s dynamic behavior. From the beginning to the 650th step, the purple region dominates, indicating that the sub-deviation caused by the current disturbance occupies most of the total deviation. This dominance arises because the initial values deviate from the desired state, similar to a sudden current disturbance affecting the UUV. As a result, the purple region predominates, and according to the collaborative control mechanism, the proposed COC algorithm is primarily governed by SMC. Due to SMC’s superior control accuracy and dynamic response, the COC framework achieves faster convergence and more minor steady-state deviations than LQR during this phase.Fig. 4: Comparison of the proportion of sub-deviations from different origins.a–f are the proportion comparison of position x, y, z and orientation ϕ, θ, and the ψ, respectively. The pink part represents the sub-deviation from thruster noise and the purple part represents that current disturbance.Full size imageUpon focusing on the stabilization phase (from step 650 to 1000), the purple region steadily diminishes, signifying that the sub-deviations stemming from the initial pose have progressively converged. At this juncture, the COC strategy transitions to an LQR-dominated regimen, which persists until the onset of the current disturbance. As previously discussed, the aggressive thrust application of SMC is primarily responsible for the oscillations in the pose state. COC addresses this issue by integrating the thrust constraints of LQR. With the pose state that has converged and oscillated within a narrow range, COC achieves the best control accuracy with limited thrust and mitigates the oscillation cases. During the initial stabilization process, COC harnesses SMC’s rapid convergence and high precision while circumventing the drawbacks of substantial overshoot and protracted oscillations, offering a refined control solution for the UUV.Then, focus on the post-1000 steps in Fig. 4. The total deviation increases primarily due to the growth of the pink segment, which represents the sub-deviation caused by thruster noise. This trend persists until approximately 1200 steps, when the purple area, the sub-deviation from the current disturbance, begins to emerge. The delayed onset of the purple area can be attributed to the fact that, in the early stages of current influence, the total pose deviation has not yet accumulated sufficiently to trigger adjustments in the COC’s collaborative strategy. During this phase, the COC remains predominantly governed by LQR, which is less effective in mitigating the immediate effects of current disturbances. As a result, the deviation accumulates until around 1200 steps, after which the purple area expands, and its contribution to the total deviation increases.This observation reveals the dynamic interplay between the sub-deviations, where the dominance of one is swiftly mitigated, only for the other to become more pronounced. This cyclical process gradually diminishes the total deviation, enabling the UUV’s pose state to approximate the desired state continuously. The underlying mechanism driving this behavior can be explained as follows: when the COC transitions from an LQR-dominated to an SMC-dominated strategy, the impact of current disturbance and its associated sub-deviation begins to subside. As the sub-deviation from the current disturbance decreases, the relative contribution of the thruster-noise sub-deviation to the total deviation increases, prompting a shift back to an LQR-dominated strategy within the COC framework. This cyclical regulation results in the observed proportional fluctuations. Throughout this fluctuation period, the UUV’s pose accuracy is iteratively refined, and the system efficiently manages thruster consumption, thereby avoiding unnecessary power expenditure. This adaptive response underscores the effectiveness of the proposed COC in maintaining optimal control performance despite environmental disturbances.Thrust and control performance comparisons under different control policiesIn UUV hovering missions, thrust consumption is a critical factor, as is the system’s anti-disturbance performance and hovering error. In the above experiment, eight thrusters generate the needed force and moment, including two main thrusters, four vertical thrusters, and two lateral thrusters. This subsection presents a comparative analysis of the thrust curves under LQR, SMC, and COC control strategies. As illustrated in Fig. 5, during the initial phase of the convergence process (within 300 steps), the red lines, representing the SMC strategy, exhibit significant overshoot and oscillation. This behavior indicates that SMC utilizes an aggressive thrust output to mitigate deviations caused by initial conditions swiftly. However, this approach often leads to overshooting and thruster output saturation.Fig. 5: Thrust variations of each thruster under the influence of current disturbance.a Represents the thrust variation of the left-main thruster. b Illustrates the thrust variation of the right-main thruster. c Shows the thrust variation of the left-back vertical thruster. d Displays the thrust variation of the left-front vertical thruster. e Presents the thrust variation of the right-rear vertical thruster. f Demonstrates the thrust variation of the right-front vertical thruster. g Captures the thrust variation of the front-side thruster. h Delineates the thrust variation of the rear-side thruster. The thrust profiles are represented by blue, red, and gray lines corresponding to LQR, SMC, and COC, respectively.Full size imageIn contrast, COC uses a collaborative strategy that inherently constrains thrust output, mitigating excessively aggressive thrust responses at the expense of a slightly extended adjustment period. For instance, as illustrated in all six subfigures of Fig. 5, COC avoids the extreme thrust amplitudes ranging from  −300 N to 200 N observed in SMC. As a price, it achieves stabilization within 200 steps. During the latter phase of the convergence process, the red and gray lines exhibit high-frequency oscillations within the range of  −50 N–50 N. In contrast, the blue line, representing LQR, maintains smaller thrust values. This case indicates that SMC and COC continue applying thrust to suppress disturbance. In summary, COC effectively mitigates the issues of overshoot and thruster saturation associated with aggressive thrust outputs while maintaining precise pose control during the initial value convergence process.After 650 steps, the lines of COC in Fig. 5 hold at a lower value and exhibit no oscillations compared to those of SMC. It indicates that, at this stage, COC achieves high control accuracy without relying on high-frequency thrust inputs. This phenomenon can be attributed to the cooperative strategy transitioning to an LQR-dominated approach once the deviations converge within a sufficiently small range. Given COC’s excellent steady-state accuracy, only minimal control inputs are required to correct residual deviations. As a result, the thrust outputs under COC are significantly reduced compared to SMC and are even lower than those of LQR, demonstrating the efficiency of the proposed control framework.After 1000 steps, the red lines exhibit slightly more pronounced oscillations, while the gray lines resume oscillating after another 200 steps. Although COC and SMC achieve comparable control accuracy under current perturbations, the former requires a longer response time. This delay exists because the deviations are too small to prompt a shift in COC’s cooperative strategy. As deviations accumulate, the COC strategy progressively shifts towards SMC, increasing thrust outputs to counteract the effects of current disturbance quickly. Leveraging the coordination mechanism, COC dynamically adjusts the control weights between LQR and SMC in response to the disturbance, thereby maintaining high control accuracy with less consumption than only SMC.Keep focusing on the distinct thrust variation trends observed between steps 1400 and 1500 in Fig. 5g to elucidate the interaction between the coordination and deviation separation mechanisms. The enlarged view within Fig. 5g reveals that during steps 1440–1450, the gray line remains close to zero. However, for the rest of the period between steps 1400 and 1500, the gray line oscillates within a narrow range of  −3 N to 3 N. The former case indicates that COC stabilizes the UUV with minimal thrust, while the latter suggests that COC still requires significant thrust input to maintain system stability. This cyclical behavior occurs because when the sub-deviations caused by current disturbances are significantly suppressed through an SMC-dominated strategy, the COC coordination mechanism automatically transitions to an LQR-dominated mode. Then, there is a reduction in thrust. As a result, the influence of the thruster-noise sub-deviation diminishes until the coordination mechanism reverts to an SMC-dominated approach. This self-regulating collaborative mechanism mitigates the drawbacks of SMC’s tendency to switch among significant, opposing thrusts and LQR’s overly conservative thrust application. Consequently, COC consistently selects a more minor, smoother thrust profile while maintaining control accuracy, thereby reducing thruster wear and enhancing precision to achieve superior overall control performance.Finally, we present a comparative analysis of the three control strategies’ overall performance in Fig. 6. For each segment, deviations and thrusts are first expressed in quadratic form and then summed to derive the control cost, which is represented as a bar chart. Given the substantial control inputs associated with SMC, the logarithm ({log }_{10}) of all control costs is applied to better visualize differences across orders of magnitude. As depicted in Fig. 6, the control cost of COC in the initial two segments exceeds that of LQR but remains lower than that of SMC. This is attributed to COC’s strategy of stabilizing the UUV through high-frequency thrust adjustments with lower amplitude than SMC. In subsequent segments, where deviations have significantly converged after 1000 steps, the gray bars consistently remain the lowest, indicating that COC achieves minimal overall control costs. These findings further validate that COC attains superior control accuracy with reduced control effort through its collaborative control strategy.Fig. 6: Histogram of control costs for different controllers under current disturbance.The control process is discretized into ten segments, each comprising 200 time steps. The red, gray, and blue cuboids represent the logarithm of each controller’s cost function.Full size imageIn summary, the above subsections analyze the control performance of LQR, SMC and COC controllers under the influence of current disturbance. With the comparisons between three control strategies, it is shown that the COC can obtain an optimal performance while balancing the need for robustness and consumption. Due to space limitations, the further exploration of the control performance in other scenarios is presented in the supplementary file from Sections S.4–S.6, including stable ocean current disturbance, increasing current disturbance, and load changing disturbance.ConclusionIn this study, we proposed a novel COC framework that synergistically integrates SMC’s robustness and rapid responsiveness with the precision and low control cost of LQR. By developing a real-time error separation strategy, we successfully decoupled the challenges of disturbance rejection and precise hovering, enabling UUVs to operate efficiently in complex underwater environments. The proposed framework demonstrated remarkable adaptability to current disturbance without requiring prior knowledge of the disturbance characteristics. Simulation results revealed that the developed COC framework effectively mitigates the impact of current disturbance while maintaining precise hovering performance. Specifically, while the COC cost function remains optimal, the state response of position and direction under COC control remains fast and accurate. This highlights the ability of the proposed framework to achieve high-precision control with low energy consumption, making it particularly suitable for long-duration underwater missions. Furthermore, the COC framework demonstrated exceptional robustness in scenarios where other controllers failed, ensuring system stability and preventing catastrophic outcomes.These findings underscore the potential of the COC framework to revolutionize underwater robotics by addressing the dual challenges of robustness and precision in dynamic marine environments. Future research will extend this framework to multi-agent systems and explore its applicability in more complex and unstructured underwater scenarios. This work represents a significant advancement in UUV control, offering a versatile and reliable solution for the growing demand for underwater exploration and operations.MethodsUncrewed underwater vehicles modelConsider a UUV system in the form of (For the details of the model settings, please see Section S.1 of the supplementary file.) :$$left{begin{array}{l}[{{bf{M}}}({{bf{v}}})+Delta {{bf{M}}}({{bf{v}}})]dot{{{bf{v}}}}+[{{bf{C}}}({{bf{v}}})+Delta {{bf{C}}}({{bf{v}}})]{{bf{v}}}+[{{bf{D}}}({{bf{v}}})+Delta {{bf{D}}}({{bf{v}}})]{{bf{v}}}+[{{bf{g}}}({{boldsymbol{eta }}})+Delta {{bf{g}}}({{boldsymbol{eta }}})]={{{boldsymbol{tau }}}}_{delta }+{{{boldsymbol{delta }}}}_{c},quad \ dot{{{boldsymbol{eta }}}}={{bf{J}}}({{boldsymbol{eta }}}){{bf{v}}},hfill end{array}right.$$
    (1)
    where η = [x, y, z, ϕ, θ, ψ]T represents the pose vector of the UUV in the inertial reference frame, and v = [u, w, v, p, q, r]T denotes the velocity vector, which includes both linear and angular velocities in the body-fixed reference frame. The control input, influenced by the current disturbance δc, is expressed as ({{{boldsymbol{tau }}}}_{delta }={[{F}_{x},{F}_{y},{F}_{z},{M}_{phi },{M}_{theta },{M}_{psi }]}^{{{rm{T}}}}), representing the resultant force F and moments M along the x, y, and z axes, as well as the orientation angles ϕ, θ, and ψ. The matrix M(v) denotes the inertia matrix (which includes the added mass), C(v) refers to the matrix accounting for the centripetal force and the Coriolis forces, D(v) represents the hydrodynamic damping matrix, and g(η) is the vector of hydrostatic forces. In addition, ΔM(v), ΔC(v), ΔD(v) and Δg(η) represent the model uncertainties on the above matrixes generated from the loading changing or inaccurate modeling situations. The influence of these model uncertainties can be viewed as an external disturbance term as δm, from where the above model (1) can be simplified to:$$begin{array}{l}left{begin{array}{l}{{bf{M}}}({{bf{v}}})dot{{{bf{v}}}}+{{bf{C}}}({{bf{v}}}){{bf{v}}}+{{bf{D}}}({{bf{v}}}){{bf{v}}}+{{bf{g}}}({{boldsymbol{eta }}})={{{boldsymbol{tau }}}}_{delta }+{{{boldsymbol{delta }}}}_{c}+{{{boldsymbol{delta }}}}_{m}={{{boldsymbol{tau }}}}_{delta }+{{boldsymbol{delta }}},quad \ dot{{{boldsymbol{eta }}}}={{bf{J}}}({{boldsymbol{eta }}}){{bf{v}}},hfill end{array}right.\ {{{boldsymbol{delta }}}}_{m}=-Delta {{bf{M}}}({{bf{v}}})dot{{{bf{v}}}}-Delta {{bf{C}}}({{bf{v}}}){{bf{v}}}-Delta {{bf{D}}}({{bf{v}}}){{bf{v}}}-Delta {{bf{g}}}({{boldsymbol{eta }}}),hfillend{array}$$
    (2)
    where δ is the integrated disturbance with δ = δc + δm. The model presented in equation (2) is referred to as the continuous model in this paper, which provides an intuitive representation of the relationship between thrust, pose, and velocity. Table 1 introduces the common mathematical expressions used in this article.Table 1 The general mathematical expressionFull size tableGiven the widespread adoption of digital controllers, designing controllers directly in the discrete-time domain effectively mitigates the delay issues introduced by sampling devices, such as zero-order hold elements, thereby ensuring the stability of the control system. The discrete-time form of the model (2) is derived to accommodate the dynamics of digital systems more effectively:$$left{begin{array}{l}{{{bf{v}}}}_{k+1}=-{{{bf{M}}}{({{{bf{v}}}}_{k})}^{-1}[{{bf{C}}}({{{bf{v}}}}_{k}){{{bf{v}}}}_{k}+{{bf{D}}}({{{bf{v}}}}_{k}){{{bf{v}}}}_{k}+{{bf{g}}}({{{boldsymbol{eta }}}}_{k})]+{{bf{M}}}{({{{bf{v}}}}_{k})}^{-1}({{{boldsymbol{tau }}}}_{{{boldsymbol{delta }}},k}+{{{boldsymbol{delta }}}}_{k})}dt+{{{bf{v}}}}_{k},quad \ {{{boldsymbol{eta }}}}_{k+1}=[{{bf{J}}}({{{boldsymbol{eta }}}}_{k}){{{bf{v}}}}_{k}]dt+{{{boldsymbol{eta }}}}_{k},hfill end{array}right.$$
    (3)
    where dt represents the sampling time, determined by the hardware requirements, and k denotes the discrete time index. vk, vk+1, and ηk, ηk+1 represent the velocity vector v and the orientation vector η at time steps k and k + 1, respectively. τδ,k and δk denote the control input and the current disturbance at time step k. The matrices M(vk), C(vk), D(vk), g(ηk), and J(vk) retain the same physical interpretation as in the continuous model (2). Still, they represent the discrete-time model’s corresponding functions of vk and ηk.In practical applications, the hydrostatic force g(ηk) can be considered negligible and effectively treated as zero. To simplify the controller design, a Taylor expansion at the time step k = 0 is applied to the model above, thereby establishing a linear relationship between the vehicle’s pose and the forces and moments generated by the thrusters:$${{{bf{x}}}}_{{{boldsymbol{delta }}},k+1}={{{bf{A}}}}_{k}{{{bf{x}}}}_{{{boldsymbol{delta }}},k}+{{{bf{B}}}}_{k}{{{boldsymbol{tau }}}}_{{{boldsymbol{delta }}},k}+{{{boldsymbol{delta }}}}_{k},$$
    (4)
    where ({{{bf{x}}}}_{{{boldsymbol{delta }}},k}={[{{{boldsymbol{eta }}}}_{k}-{{{boldsymbol{eta }}}}_{r,k},{{{bf{v}}}}_{k}-{{{bf{v}}}}_{r,k}]}^{{{rm{T}}}}) represents the deviation between the desired pose ηr,k and velocity vr,k, and the current pose and velocity under the influence of current disturbance only, which constitutes the system state. The following system matrix Ak and input matrix Bk are defined as:$$begin{array}{rcl}{{{bf{A}}}}_{k}&=&left[begin{array}{cc}left(frac{partial {{bf{J}}}({{{boldsymbol{eta }}}}_{{{bf{0}}}}){{{bf{v}}}}_{0}}{partial {{{boldsymbol{eta }}}}_{{{bf{0}}}}}+{{bf{I}}}right)dt&{{bf{J}}}({{{boldsymbol{eta }}}}_{0})dt\ -frac{partial {{bf{M}}}{({{{bf{v}}}}_{{{bf{0}}}})}^{-1}{{bf{g}}}({{{boldsymbol{eta }}}}_{0})}{partial {{{boldsymbol{eta }}}}_{{{bf{0}}}}}dt&left[{{bf{I}}}-frac{partial {{bf{H}}}({{{bf{v}}}}_{{{bf{0}}}},{{{boldsymbol{tau }}}}_{{{bf{0}}}})}{partial {{{bf{v}}}}_{0}}right]dtend{array}right],{{{bf{B}}}}_{k}={left[begin{array}{cc}0&frac{partial {{bf{M}}}{({{{bf{v}}}}_{{{bf{0}}}})}^{-1}{{{boldsymbol{tau }}}}_{0}}{partial {{{boldsymbol{tau }}}}_{{{bf{0}}}}}dtend{array}right]}^{{{rm{T}}}},\ {{bf{H}}}({{{bf{v}}}}_{{{bf{0}}}},{{{boldsymbol{tau }}}}_{{{bf{0}}}})&=&{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{C}}}({{{bf{v}}}}_{0}){{{bf{v}}}}_{0}+{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{D}}}({{{bf{v}}}}_{0}){{{bf{v}}}}_{0}+{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{g}}}({{{boldsymbol{eta }}}}_{0})-{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{{boldsymbol{tau }}}}_{0}.end{array}$$
    (5)
    η0, v0, and τ0 represent the values of η, v, and τδ at the time step k = 0, respectively. I is the identity matrix with the same dimensions as J(ηk). H(v0, τ0) is an intermediate variable introduced to simplify the notation.A COC is designed to ensure stability and high precision during UUV hovering under the influence of currents for the UUV system described above. As previously noted, the controller manages hovering and disturbance rejection functions. To illustrate the coupling between these two objectives, we present the mismatched UUV model, derived from the discrete model (3), as follows:$${{{bf{x}}}}_{k+1}={{{bf{A}}}}_{k}{{{bf{x}}}}_{k}+{{{bf{B}}}}_{k}{{{boldsymbol{tau }}}}_{k}+{{{boldsymbol{delta }}}}_{k}+{{{bf{w}}}}_{k},$$
    (6)
    where xk and τk represent the system state and thrust input of the mismatched model, respectively. Their physical meanings are identical to those of xδ,k and τδ,k. The only distinction is that, in contrast to model (4), random noise ({{{bf{w}}}}_{k}in {{mathscr{N}}}(0,{{{bf{W}}}}_{k})) from the thrusters is introduced. The remaining terms are consistent with those in the model (4). The model presented in equation (6) represents the actual model in this paper, and the subsequent derivations are based on this model.The second-order linear model adopted in this study is widely used in the control design of underwater vehicles, mainly when the vehicle operates within a limited envelope under hovering or low-speed conditions. This modeling assumption is well-suited for streamlined, low-damping UUVs with symmetric hull structures and 6 degrees of freedom (6-DOF) control realized through vector thrusters or distributed actuators. As supported by prior studies35,36, such reduced-order models preserve the dominant dynamics relevant to pose regulation and disturbance rejection while greatly simplifying controller design and real-time implementation. However, we acknowledge that more sophisticated nonlinear models may be required for UUVs performing high-speed cruising, exhibiting complex hydrodynamic interactions (e.g., crossflow effects), or undergoing large-angle maneuvers. In such cases, the proposed COC framework can be extended by incorporating nonlinear control strategies (e.g., gain scheduling, feedback linearization), as long as the core deviation separation mechanism is maintained.In this paper, we assume the hydrostatic force g(ηk) is negligible and can be treated as zero. This assumption is valid for typical UUVs with slightly positive buoyancy operating at shallow to moderate depths, where the effect of hydrostatic restoring forces is minimal and can be safely ignored for pose control purposes. However, this assumption may no longer hold for deep-sea operations or missions involving heavy payloads due to significant variations in buoyancy and restoring torques. The term g(ηk) should be retained in the dynamic model. Nevertheless, doing so does not affect the structural validity of the proposed COC framework. The additional terms can be incorporated into the LQR and SMC components through model-based feed-forward compensation, thus compensating without affecting the cooperative framework.Cooperative control framework for UUVThe previous section introduced the mismatched model, and the thrust required to stabilize the UUV system was calculated. Relying solely on SMC to address the coupled tasks would lead to inefficient utilization of limited power resources. In contrast, LQR alone is insufficient for handling current disturbances37. Therefore, a combined control strategy is required to exploit the strengths of both approaches.However, to enable each sub-controller to perform its respective task, it is necessary to first decouple the mismatched model into two distinct models, each representing the hovering task and the disturbance rejection task, respectively. The fundamental framework of COC relies on feedback control, with the only available feedback being the deviation between the current pose and the desired one. Therefore, a deviation separation mechanism is introduced to partition the overall deviation into sub-deviations, each corresponding to the specific characteristics of the respective tasks. Mathematically, this analysis can be expressed as follows:$${{{bf{x}}}}_{k+1}={{{bf{A}}}}_{k}{{{bf{x}}}}_{{{boldsymbol{delta }}},k}+{{{bf{B}}}}_{k}{{{boldsymbol{tau }}}}_{{{boldsymbol{delta }}},k}+{{{boldsymbol{delta }}}}_{k}+{{{bf{A}}}}_{k}{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k}\ +{{{bf{B}}}}_{k}{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}+{{{bf{w}}}}_{k}={{{bf{x}}}}_{{{boldsymbol{delta }}},k+1}+{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1},$$
    (7)
    where xε,k is the vector representing the separated sub-deviation from thruster noise, while xδ,k is the sub-deviation from current disturbance as introduced earlier. These two sub-deviations are related by the equation xk = xδ,k + xε,k. Specifically, xδ,k corresponds to the sub-deviation associated with the anti-disturbance task, whereas xε,k represents the sub-deviation related to the hovering task.Recent researches show that the linear quadratic problem can be reformulated as an optimization problem involving probability distributions, which transforms the task of calculating optimal thrust into maximizing the posterior probability distribution of the deviation state xk38,39. Building on these findings, the effect of minor disturbances on the posterior distribution can be estimated by analyzing the influence function. Similarly, the anti-disturbance task can be viewed as a minor disturbance influencing the hovering task. By examining the influence function of the LQR, we can quantify the impact of the anti-disturbance task on the hovering task under the thrust calculated by the LQR. In this context, it corresponds to the influence of the current disturbance on the hovering task. Subsequently, the estimated sub-deviation caused by the current disturbance can be computed by inverting the influence function. The difference between the current deviation and the calculated sub-deviation represents the estimated sub-deviation of the hovering task, which forms the foundation for the separation mechanism.Mathematically, the optimal thrust in LQR is computed by solving an optimization problem subject to the constraints of the nominal model, as described in Eq. (4). When current disturbances affect the UUVs, the dynamic model transitions from the nominal model (4) to the mismatched model (6). As a result, the optimization problem is modified as follows:$$begin{array}{l}left{begin{array}{l}{J}_{k}^{star }={min }_{{{{boldsymbol{tau }}}}_{k}}left[({{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k}}^{{{rm{T}}}}{{bf{Q}}}{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k}+{{{{boldsymbol{tau }}}}_{k}}^{{{rm{T}}}}{{bf{R}}}{{{boldsymbol{tau }}}}_{k})+{{{{bf{x}}}}_{k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1}right],quad \ {{{boldsymbol{tau }}}}_{k}^{star }={min }_{{{{boldsymbol{tau }}}}_{k}}{{J}_{{{boldsymbol{varepsilon }}},k}+[{{{{bf{x}}}}_{k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1}-{{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1}]}.quad end{array}right.\ {J}_{k}={{{{bf{x}}}}_{k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1},{J}_{{{boldsymbol{varepsilon }}},k}={{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1},end{array}$$
    (8)
    where Q and R are two weighting matrices defined artificially, Jk and Jε,k represent the cost functions of the COC and LQR, respectively. ({{{boldsymbol{tau }}}}_{k}^{star }) is the optimal control thrust. ({J}_{k}^{star }) is the optimal cost function of the COC, minimized by ({{{boldsymbol{tau }}}}_{k}={{{boldsymbol{tau }}}}_{k}^{star }), which can also be expressed as ({J}_{k}^{star }={min }_{{{{boldsymbol{tau }}}}_{k}}{J}_{k}). Pk+1 is a symmetric matrix obtained through the Riccati equation (The detailed derivation process is shown in Section S.3 of the supplementary file). The bias between ({{{boldsymbol{tau }}}}_{k}^{star }) and τε,k is defined as ({tilde{{{boldsymbol{tau }}}}}_{k}). According to the maximum principle, the first derivative of Eq. (8) satisfies:$${left.frac{partial {{J}_{{{boldsymbol{varepsilon }}},k}+[{{{{bf{x}}}}_{k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1}-{{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k+1}]}}{partial {{{boldsymbol{tau }}}}_{k}}rightvert }_{{{{boldsymbol{tau }}}}_{k} = {{{boldsymbol{tau }}}}_{k}^{star }}=0.$$
    (9)
    For simplicity, let (f({{{boldsymbol{tau }}}}_{k}^{star })) denote the left-hand side of Eq. (9). By performing a second-order Taylor expansion of Eq. (9), we obtain:$$ f({{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k})+frac{partial f({{{boldsymbol{tau }}}}_{k})}{partial {{{boldsymbol{tau }}}}_{k}}({{{boldsymbol{tau }}}}_{k}-{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k})+{{mathscr{O}}}{({{{boldsymbol{tau }}}}_{k}-{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k})}^{2}\ approx {left.left{frac{partial {J}_{{{boldsymbol{varepsilon }}},k}}{partial {{{boldsymbol{tau }}}}_{k}}+frac{partial ({J}_{k}-{J}_{{{boldsymbol{varepsilon }}},k})}{partial {{{boldsymbol{tau }}}}_{k}}right}right| }_{{{{boldsymbol{tau }}}}_{k} = {{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}}+left{frac{{partial }^{2}[{J}_{{{boldsymbol{varepsilon }}},k}+{J}_{k}-{J}_{{{boldsymbol{varepsilon }}},k}]}{partial {{{{boldsymbol{tau }}}}_{k}}^{2}}right}({{{boldsymbol{tau }}}}_{k}-{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k})$$
    (10)
    Substituting Eq. (9) into the above equations and noting that τε,k minimizes Jε,k, it follows that the partial derivative (frac{partial {J}_{{{boldsymbol{varepsilon }}},k}}{partial {{{boldsymbol{tau }}}}_{k}}{| }_{{{{boldsymbol{tau }}}}_{k} = {{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}}) equals to zero. By substituting ({tilde{{{boldsymbol{tau }}}}}_{k}) for the corresponding terms in Eq. (10) and neglecting higher-order terms, Eq. (10) simplifies to:$${left.frac{partial ({J}_{k}-{J}_{{{boldsymbol{varepsilon }}},k})}{partial {{{boldsymbol{tau }}}}_{k}}+left(frac{{partial }^{2}{J}_{k}}{partial {{{{boldsymbol{tau }}}}_{k}}^{2}}right){tilde{{{boldsymbol{tau }}}}}_{k}right| }_{{{{boldsymbol{tau }}}}_{k} = {{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}}to {tilde{{{boldsymbol{tau }}}}}_{k}={left(frac{{partial }^{2}{J}_{k}}{partial {{{{boldsymbol{tau }}}}_{k}}^{2}}right)}^{-1}{left.frac{partial ({J}_{k}-{J}_{{{boldsymbol{varepsilon }}},k})}{partial {{{boldsymbol{tau }}}}_{k}}rightvert }_{{{{boldsymbol{tau }}}}_{k} = {{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}}.$$
    (11)
    By substituting the cost function expression (8) into the above formula (11), the final expression for ({tilde{{{boldsymbol{tau }}}}}_{k}) is obtained as:$${tilde{{{boldsymbol{tau }}}}}_{k}=-{({{bf{R}}}+{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{B}}}}_{k})}^{-1}{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{{{boldsymbol{delta }}},k}.$$
    (12)
    Since τε,k is independent of xδ,k, the first-order partial derivative of ({tilde{{{boldsymbol{tau }}}}}_{k}) with respect to xδ,k can be expressed as:$$frac{partial {tilde{{{boldsymbol{tau }}}}}_{k}}{partial {{{bf{x}}}}_{{{boldsymbol{delta }}},k}}=frac{partial ({{{boldsymbol{tau }}}}_{k}^{star }-{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k})}{partial {{{bf{x}}}}_{{{boldsymbol{delta }}},k}}=frac{partial {{{boldsymbol{tau }}}}_{k}^{star }}{partial {{{bf{x}}}}_{{{boldsymbol{delta }}},k}}.$$
    (13)
    As mentioned earlier, xδ,k, which represents the sub-deviation of the anti-disturbance task, influences the cost function. This influence can be quantified by performing a partial derivative. Thus, to calculate the change in the cost function resulting from the sub-deviation xδ,k, we take the derivative of Jk along the xδ,k direction. The partial derivative mentioned above is denoted as Lk, and its expression is:$${{{bf{L}}}}_{k}= frac{partial {J}_{k}}{partial {{{bf{x}}}}_{{{boldsymbol{delta }}},k}}={left.frac{partial {J}_{k}}{partial {{{boldsymbol{tau }}}}_{k}}frac{partial {{{boldsymbol{tau }}}}_{k}^{star }}{partial {{{bf{x}}}}_{{{boldsymbol{delta }}},k}}right| }_{{{{boldsymbol{tau }}}}_{ = }{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}}\ = -2{({{bf{R}}}{{{boldsymbol{tau }}}}_{k}+{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1})}^{{{rm{T}}}}{({{bf{R}}}+{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{B}}}}_{k})}^{-1}{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1},$$
    (14)
    Thus, we establish the relationship between the partial derivative and the sub-deviation we aim to estimate. By performing an inverse integration on the partial derivative, the expression for the sub-deviation can be written as ({{{bf{x}}}}_{{{boldsymbol{delta }}},k}={{{bf{L}}}}_{k}^{-1}({J}_{k}-{{boldsymbol{beta }}})), where ({{boldsymbol{beta }}}=min {J}_{k}| forall ({{{bf{x}}}}_{k},{{{boldsymbol{tau }}}}_{k})=0). The term β is close to zero due to the optimality of LQR, and since ({{{bf{L}}}}_{k}^{-1}) is bounded, the expression for xδ,k is approximated as ({{{bf{L}}}}_{k}^{-1}{J}_{k}). In the ocean environment, where current changes are slow, the UUV control problem can be modeled as a system with a fast control frequency and slow time-invariant disturbances. Therefore, we assume that xδ,m ≈ xδ,m+1 ≈ ⋯ ≈ xδ,k, where m = k − M2 + 1 is a different time step and M2 represents the dimension of the sub-deviation vector xδ,k. Consequently, the full expression for xδ,k is given by ({{{bf{x}}}}_{{{boldsymbol{delta }}},k}={{{bf{J}}}}_{m,k}{{{bf{L}}}}_{m,k}^{-1}), where Jm,k = [Jm, Jm+1, …, Jk] and Lm,k = [Lm, Lm+1, …, Lk] are two augmented matrices of Jk and Lk, respectively.In the previous subsections, the sub-deviation of the anti-disturbance task was separated from the total deviation. To express the COC more concisely in subsequent sections, we define the separation matrix Φk such that ({{{bf{x}}}}_{{{boldsymbol{delta }}},k}={{{mathbf{Phi }}}}_{k}{{{bf{x}}}}_{k}={{{bf{J}}}}_{m,k}{{{bf{L}}}}_{m,k}^{-1}). The analytical expression for Φk is derived as follows:$$left{begin{array}{l}{{{mathbf{Phi }}}}_{k}=diag({{{bf{J}}}}_{m,k}{{{{bf{L}}}}_{m,k}}^{-1})./{{{bf{x}}}}_{k},quad \ {{{bf{x}}}}_{{{boldsymbol{delta }}},k}={{{mathbf{Phi }}}}_{k}{{{bf{x}}}}_{k},hfill \ {{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k}=({{bf{I}}}-{{{mathbf{Phi }}}}_{k}){{{bf{x}}}}_{k},hfill end{array}right.$$
    (15)
    where ./ denotes element-wise division of the corresponding elements, and diag(…) represents a matrix with the vectors in (…) as its diagonal elements. If the system is stable at the desired pose or has little current disturbance, no sub-deviation is generated from the anti-disturbance task. Consequently, the value of Lk becomes very small, and its inverse grows exceedingly large. In order to avoid numerical instability when the matrix Lk is tiny, a threshold control strategy is introduced when constructing the separation matrix Φk. Specifically, a safety bound is set for the augmented vector Lm,k as ∣∣Lm,k∣∣ ≤ ε, where ∣∣Lm,k∣∣ is the determinant of Lm,k and ε is an artificial defined scalar. When the strategy is satisfied, the deviation caused by the disturbance is almost negligible, and the LQR controller is sufficient to stabilize the system without the need for the SMC compensation term, so the separation matrix Φk is set to zero.Since the sub-deviation has been obtained, the decoupled sub-deviations are introduced into the LQR and SMC controllers separately. For the SMC sub-controller, the thrust is calculated as follows:$$left{begin{array}{l}{{{bf{s}}}}_{{{boldsymbol{delta }}},k}={{bf{c}}}{{{bf{v}}}}_{{{boldsymbol{delta }}},k}+{{{boldsymbol{eta }}}}_{{{boldsymbol{delta }}},k},hfill \ {tau }_{{{boldsymbol{delta }}},k}={{bf{C}}}({{{bf{v}}}}_{k}){{{bf{v}}}}_{{{boldsymbol{delta }}},k}+{{bf{D}}}({{{bf{v}}}}_{k}){{{bf{v}}}}_{{{boldsymbol{delta }}},k}+{{bf{g}}}({{{boldsymbol{eta }}}}_{k})-{{bf{M}}}({{{bf{v}}}}_{k}){{{bf{c}}}}^{-1}{{bf{J}}}({{{boldsymbol{eta }}}}_{k}){{{bf{v}}}}_{{{boldsymbol{delta }}},k}-{{bf{M}}}({{{bf{v}}}}_{k}){{{bf{c}}}}^{-1}rho sgn({{{bf{s}}}}_{{{boldsymbol{delta }}},k})quad end{array}right.$$
    (16)
    where ηδ,k = xδ,k(1: 6) and vδ,k = xδ,k(7: 12) are the pose vector and velocity vector of the sub-deviation, respectively. sδ,k represents the sliding mode surface, and c is the sliding mode gain, both of which are similar to the SMC. ρ is the switching gain, and sgn is the sign function, with their respective expressions are available in Section S.2 of the supplementary file. From a mechanical perspective, the thrust τδ,k can be viewed as a combination of two components. The second part,  −M(vk)c−1ρsgn(sδ,k), is a discontinuous switching term that drives the UUV’s dynamics toward the sliding surface sδ,k. This sliding surface is inherently stabilized by the feedforward term C(vk)vδ,k + D(vk)vδ,k + g(ηk) − M(vk)c−1J(ηk)vδ,k, which ensures the system converges to the desired pose without requiring additional thrust.For the LQR sub-controller, its thrust is calculated by:$${{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}={{{bf{K}}}}_{varepsilon }{{{bf{x}}}}_{{{boldsymbol{varepsilon }}},k}={{{bf{K}}}}_{varepsilon }({{bf{I}}}-{{{mathbf{Phi }}}}_{k}){{{bf{x}}}}_{k},$$
    (17)
    where Kε is the control gain of LQR. It follows the same feedback control strategy as the traditional LQR from Section S.3 of the supplementary file, with the only difference being that the deviation here corresponds to the sub-deviation of the hovering task. By combining the two control inputs, the thrust of the COC is:$${{{boldsymbol{tau }}}}_{k}={tau }_{delta ,k}+{{{boldsymbol{tau }}}}_{{{boldsymbol{varepsilon }}},k}.$$
    (18)
    From the thrust of COC in Eq. (18), it can be observed that the thrust is a combination of the thrusts from the two sub-controllers, including the LQR and SMC. By integrating both a feedforward term and a compensated switching term, the proposed COC strategy introduces SMC’s robust disturbance suppression capabilities into the COC framework from two key perspectives. First, the feedforward term ensures that the system reaches the SMC’s sliding surface within a finite time. Second, the switching term guarantees the inherent stability of the sliding surface, thereby enhancing the system’s resilience to uncertainties and disturbances. Coupled with the deviation separation mechanism, this collaborative framework allows the proposed COC approach to effectively balance robustness, precision, and energy efficiency in dynamic and uncertain environments. The overall framework is listed as Algorithm 1.
    Algorithm 1
    The framework of the cooperative controller
    Require: vk, ηk, M(vk), C(vk), D(vk), g(ηk), Q, R, c, ρ, dt
    Ensure: τk
    1: ({{bf{H}}}({{{bf{v}}}}_{{{bf{0}}}},{{{boldsymbol{tau }}}}_{{{bf{0}}}})={{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{C}}}({{{bf{v}}}}_{0}){{{bf{v}}}}_{0}+{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{D}}}({{{bf{v}}}}_{0}){{{bf{v}}}}_{0}+{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{bf{g}}}({{{boldsymbol{eta }}}}_{0})-{{bf{M}}}{({{{bf{v}}}}_{0})}^{-1}{{{boldsymbol{tau }}}}_{0}),              ⊳ initialization process
    2: ({{{bf{A}}}}_{k}=left[begin{array}{c}(frac{partial {{bf{J}}}({{{boldsymbol{eta }}}}_{{{bf{0}}}}){{{bf{v}}}}_{0}}{partial {{{boldsymbol{eta }}}}_{{{bf{0}}}}}+{{bf{I}}})dt{{bf{J}}}({{{boldsymbol{eta }}}}_{0})dt\ -frac{partial {{bf{M}}}{({{{bf{v}}}}_{{{bf{0}}}})}^{-1}{{bf{g}}}({{{boldsymbol{eta }}}}_{0})}{partial {{{boldsymbol{eta }}}}_{{{bf{0}}}}}dt[{{bf{I}}}-frac{partial {{bf{H}}}({{{bf{v}}}}_{{{bf{0}}}},{{{boldsymbol{tau }}}}_{{{bf{0}}}})}{partial {{{bf{v}}}}_{0}}]dtend{array}right],{{{bf{B}}}}_{k}={left[0frac{partial {{bf{M}}}{({{{bf{v}}}}_{{{bf{0}}}})}^{-1}{{{boldsymbol{tau }}}}_{0}}{partial {{{boldsymbol{tau }}}}_{{{bf{0}}}}}dtright]}^{{{rm{T}}}}),
    3: ({{{bf{P}}}}_{k}={{{bf{A}}}}_{k}^{T}{{{bf{P}}}}_{k+1}{{{bf{A}}}}_{k}-{{{bf{A}}}}_{k}^{T}{{{bf{P}}}}_{k+1}{{{bf{B}}}}_{k}{({{bf{R}}}+{{{bf{B}}}}_{k}^{T}{{{bf{P}}}}_{k+1}{{{bf{B}}}}_{k})}^{-1}{{{bf{B}}}}_{k}^{T}{{{bf{P}}}}_{k+1}{{{bf{A}}}}_{k}+{{bf{Q}}}quad triangleright) This equation is convergent. Considering the infinite time domain, then Pk = Pk+1 = P.
    4: ({{{bf{K}}}}_{varepsilon }=-{({{bf{R}}}+{{{bf{B}}}}_{k}^{T}{{bf{P}}}{{{bf{B}}}}_{k})}^{-1}{{{bf{B}}}}_{k}^{T}{{bf{P}}}{{{bf{A}}}}_{k})
    5: loop                                                 ⊳ main loop
    6:  ({{{bf{L}}}}_{k}=-2{({{bf{R}}}{{{boldsymbol{tau }}}}_{k}+{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1})}^{{{rm{T}}}}{({{bf{R}}}+{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{B}}}}_{k})}^{-1}{{{bf{B}}}}_{k}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}), ({J}_{k}=({{{{bf{x}}}}_{k}}^{{{rm{T}}}}{{bf{Q}}}{{{bf{x}}}}_{k}+{{{{boldsymbol{tau }}}}_{k}}^{{{rm{T}}}}{{bf{R}}}{{{boldsymbol{tau }}}}_{k})+{{{{bf{x}}}}_{k+1}}^{{{rm{T}}}}{{{bf{P}}}}_{k+1}{{{bf{x}}}}_{k+1})
    7:  Jm,k = [Jk−5, Jk−4, …, Jk], Lm,k = [Lk−5, Lk−4, …, Lk]
    8:  ({{{mathbf{Phi }}}}_{k}=diag({{{bf{J}}}}_{m,k}{{{{bf{L}}}}_{m,k}}^{-1})./{{{bf{x}}}}_{k}), xδ,k = Φkxk, xε,k = (I − Φk)xk
    9:  τε,k = −Kεxε,k                                      ⊳ LQR subcontroller
    10: ηδ,k = xδ,k(1: 6), vδ,k = xδ,k(7: 12), sδ,k = cvδ,k + ηδ,k
    11: τδ,k = C(vk)vδ,k + D(vk)vδ,k + g(ηk) − M(vk)c−1J(ηk)vδ,k − M(vk)c−1ρsgn(sδ,k)            ⊳ SMC subcontroller
    12: τk = τδ,k + τε,k                                    ⊳ Cooperative controller
    13: return τk
    14: end loop
    This algorithm also raises a natural question: since the final expression of the proposed controller is a weighted form, why not directly calculate the final thrust in a weighted manner? The reason is that simply combining these two control inputs does not guarantee that their advantages are maximized or the disadvantages mitigated. Using LQR alone causes improper handling of the current disturbance, leading to divergence of the control system. On the other hand, using SMC only results in overreaction to minor deviations caused by thruster noise, leading to excessive control power consumption and potentially causing oscillations in the control system.Thus, as depicted in Fig. 7, instead of directly combining the two controllers as done previously, we propose decomposing the deviation into two parts, each tailored to LQR and SMC. The proposed deviation separation algorithm divides the mixed deviation into two distinct parts. LQR is then used to address the sub-deviation caused by thruster noise, while SMC handles the sub-deviation arising from the current disturbance. Compared to the mixed controller, the COC allows the two controllers to complement each other’s strengths, leading to improved performance.Fig. 7: The basic framework of COC.The COC optimizes performance by separating deviations and coordinating LQR (for thruster noise) and SMC (for current disturbances), leveraging their complementary strengths.Full size image

    Data availability

    The data supporting this funding are available at the Supplementary Data 1 or through https://github.com/DanielGrowl/Co-controller-for-UUV.git.
    Code availability

    The code for replicating our results is available at https://github.com/DanielGrowl/Co-controller-for-UUV.git.
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    Download referencesAcknowledgementsThis work was supported in part by the National Natural Science Foundation of China under Grant 62403215, the Natural Science Foundation of Jiangsu Province (BK20241607), the Fundamental Research Funds for the Central Universities China (JUSRP123064) and the Postgraduate Research Practice Innovation Program of Jiangsu Province KYCX25-2661.Author informationAuthors and AffiliationsKey Laboratory of Advanced Control for Light Industry Processes, Ministry of Education, Jiangnan University, Wuxi, ChinaXiaoli Luan, Shenhan Yu, Haiying Wan & Fei LiuAuthorsXiaoli LuanView author publicationsSearch author on:PubMed Google ScholarShenhan YuView author publicationsSearch author on:PubMed Google ScholarHaiying WanView author publicationsSearch author on:PubMed Google ScholarFei LiuView author publicationsSearch author on:PubMed Google ScholarContributionsXiaoli Luan contributed to the study’s conceptualization and methodology. Shenhan Yu drafted the manuscript, developed the software, and created visualizations. Haiying Wan conducted the investigation, performed validation, and contributed to the writing process. Fei Liu conducted some coordination and optimization work.Corresponding authorCorrespondence to
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    Communications Engineering thanks Meibao Yao and the other, anonymous, reviewers for their contribution to the peer review of this work. Primary Handling Editors: [Zhuo Zhang] and [Rosamund Daw].

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    Reprints and permissionsAbout this articleCite this articleLuan, X., Yu, S., Wan, H. et al. Dynamic hovering for uncrewed underwater vehicles via an error-separation-based cooperative strategy.
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    Publisher Correction: Predicting water scarcity in northern Bangladesh using deep learning and climate data

    Correction to: npj Climate and Atmospheric Science https://doi.org/10.1038/s41612-025-01030-y, published online 24 October 2025“In this article, there are amendments to the author names in references 8,9 and 10. The original article has been corrected.”

    Author informationAuthors and AffiliationsDepartment of Computer Science and Engineering, Dhaka University of Engineering & Technology, Gazipur, BangladeshMd. Alomgir Hossain, Momotaz Begum & Md. Nasim AkhtarDepartment of Computer Science and Engineering, International University of Business Agriculture and Technology (IUBAT), Dhaka, BangladeshMd. Alomgir HossainDepartment of Civil Engineering, International University of Business Agriculture and Technology (IUBAT), Dhaka, BangladeshMd Anuwer Hossain, Md. Monirul Islam & Mahfuzur RahmanCentre of Excellence for Climate Change Research/Department of Meteorology, King Abdulaziz University, Jeddah, Saudi ArabiaMansour AlmazrouiClimatic Research Unit, School of Environmental Sciences, University of East Anglia, Norwich, UKMansour AlmazrouiDepartment of Ecosystem Studies, Graduate School of Agricultural and Life Sciences, The University of Tokyo, Tokyo, JapanGowhar MerajDepartment of Biology, Chemistry and Environmental Sciences, American University of Sharjah, Sharjah Emirate, United Arab EmiratesGowhar MerajJapan Agency for Marine-Earth Science and Technology (JAMSTEC), Yokohama, Kanagawa, JapanMuhammad Mubashar DogarFaculty of Environmental Earth Science, Hokkaido University, Sapporo, Hokkaido, JapanMuhammad Mubashar DogarGlobal Climate-Change Impact Studies Centre, Ministry of Climate Change, Islamabad, PakistanMuhammad Mubashar DogarInterdisciplinary Research Center for Membranes and Water Security, King Fahd University of Petroleum and Minerals, Dhahran, Saudi ArabiaMahfuzur RahmanAuthorsMd. Alomgir HossainView author publicationsSearch author on:PubMed Google ScholarMomotaz BegumView author publicationsSearch author on:PubMed Google ScholarMd. Nasim AkhtarView author publicationsSearch author on:PubMed Google ScholarMd Anuwer HossainView author publicationsSearch author on:PubMed Google ScholarMd. Monirul IslamView author publicationsSearch author on:PubMed Google ScholarMansour AlmazrouiView author publicationsSearch author on:PubMed Google ScholarGowhar MerajView author publicationsSearch author on:PubMed Google ScholarMuhammad Mubashar DogarView author publicationsSearch author on:PubMed Google ScholarMahfuzur RahmanView author publicationsSearch author on:PubMed Google ScholarCorresponding authorCorrespondence to
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    Reprints and permissionsAbout this articleCite this articleHossain, M.A., Begum, M., Akhtar, M.N. et al. Publisher Correction: Predicting water scarcity in northern Bangladesh using deep learning and climate data.
    npj Clim Atmos Sci 8, 372 (2025). https://doi.org/10.1038/s41612-025-01267-7Download citationPublished: 18 November 2025Version of record: 18 November 2025DOI: https://doi.org/10.1038/s41612-025-01267-7Share this articleAnyone you share the following link with will be able to read this content:Get shareable linkSorry, a shareable link is not currently available for this article.Copy shareable link to clipboard
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    Sinking cities: how China is moving subsidence research forward

    As China’s cities become taller, bigger and more modern, they face a major problem: the ground beneath them is sinking. A 2024 study1 found that nearly half of the land under the country’s major cities is subsiding at a “moderate” rate of more than 3 millimetres a year, and 16% is experiencing “rapid” sinking, meaning greater than 10 millimetres annually.Many of these cities, such as Tianjin, Fuzhou and Ningbo, are located by the sea. The issue of land subsidence is so pressing that the study projected that one in ten residents of the country’s coastal cities will be living below sea level by 2120 if current trends continue.The consequences are already showing. In 2023, nearly 4,000 people in Tianjin — a port city of more than 13 million residents — had to be evacuated from high-rise apartment buildings after the streets outside suddenly split apart. Scientists sent to investigate the site believe that the problem was caused by a ‘geological cavity’ some 1,300 metres under the ground, according to the city’s government. They pointed to the drilling of a geothermal well as a possible trigger, which might have caused subterranean water and soil loss, leading the land to give way.Nature Index 2025 Science citiesChina’s plight provides a snapshot of a global crisis. Eight of the world’s ten largest cities are situated on the coast, including Shanghai, New York, India’s Mumbai and Lagos in Nigeria, and all of them are dealing with subsidence. The megacities that are rapidly expanding along Asia’s shores are among the fastest-sinking cities on the planet, according to a 2022 study2.The highest subsidence rates have been recorded in Tianjin, Vietnam’s Ho Chi Minh City and Bangladesh’s Chittagong; parts of these cities were found to be subsiding at peak speeds of more than 50 millimetres per year. In North America, subsidence is also widespread. An analysis of 28 major US cities, including coastal cities such as Houston and New York, published this year3 estimated that at least one-fifth of all mapped urban areas are sinking, affecting some 34 million people.Subsidence is not an issue that any one country can fight on its own. Some Chinese cities, such as Shanghai and Guangzhou, have modelled initiatives based on what’s worked in the Netherlands, for example, one of the lowest-lying countries in the world. Residents and institutions are encouraged by their local government to collect and reuse rainwater, such as by installing ‘green roofs’ covered with vegetation to hold rainwater, and building communal gardens to absorb or slow runoff.China is also passing on its knowledge to other developing countries. In 2023, Shenzhen shared its experience of evacuating people from partly subsided buildings with policymakers from Tripoli in Lebanon, through a collaborative effort co-organized by the United Nations Development Programme to help the city better respond to natural disasters.According to Liu Jianxin, a geophysicist at Central South University in Changsha, China, Chinese researchers are increasingly sharing data, writing papers and participating in workshops with international colleagues on the issue of subsidence. And, like Liu, many of them are based in inland cities that are also facing subsidence. “Tackling subsidence is a global effort,” Liu says.Coastal challengesCoastal cities are particularly susceptible to sinking because of their natural conditions. For one, they are often built on river deltas or coastal plains, where sediments compact over time, which leads to subsidence, says Ding Xiaoli, a geodesist at the Hong Kong Polytechnic University, who measures and monitors Earth’s shape and size. Some coastal cities, such as Tokyo, also sit on earthquake-prone areas, where tectonic activity can contribute to subsidence.But the growth of coastal cities itself — nearly one-third of the global population in 2018, or more than 2 billion, lived within 50 kilometres from the shore — is also greatly exacerbating the issue.Source: Cosby, A. G. et al. Sci. Rep. 14, 22489 (2024)In China, the main cause of subsidence linked to human activity is the excessive extraction of groundwater as cities expand, says Zhang Yonghong, a researcher at the Chinese Academy of Surveying and Mapping in Beijing. The practice lowers the underground water level, which causes the surrounding soil to compact and the land to sink. “The building of infrastructure, such as subways, can also cause parts of a city to subside,” Zhang says.Disruption to the natural recharging of groundwater owing to paved urban surfaces can worsen the situation, says Yu Kongjian, a landscape architect at Peking University in Beijing. “Land subsidence is one of the most profound manifestations of ecological mismanagement in urban regions,” he says.Cities are also getting heavier as they grow, says Zhao Qing, a geodesist at East China Normal University in Shanghai. Ongoing research by her team suggests that the increasing weight of buildings is one of the three factors — together with dropping groundwater levels and the nature of the soil — that are causing Shanghai and other cities in the Yangtze River Delta region to subside.None of the above is unique to China, and some of these issues — such as groundwater extraction and building weight — often affect cities inland, too. But on the coast, these factors are driving the land downwards in areas that also face accelerated sea-level rise owing to climate change.The speed at which sea levels are rising has more than doubled over the past three decades4, increasing from around 2.1 millimetres per year in 1993 to around 4.5 millimetres per year in 2023. By the end of this century, the global average sea level is projected to be up to 0.55 metres higher than the 1995–2014 average, even if the world limits global warming to 1.5 degrees above pre-industrial levels, as outlined in the Paris Agreement.A 2022 study5 that assessed 99 coastal cities around the world found that most of them saw parts of their land subside faster than the sea level was rising. At their current downward trajectories, they would be challenged by flooding much sooner than the timelines projected by sea-level models, the authors said. One of the cities that has been struck by this double whammy is Jakarta, the current capital of Indonesia, an archipelagic country on the frontline of fighting sea-level rise. More than 40% of the city is already below sea level — where risks of flooding, storm surges, infrastructure damage and economic and life losses are particularly high — and by the middle of the century up to 95% of its coastal areas might be submerged. The grim prospect was a major factor in Indonesia deciding to move its capital to a different island by 2028.Since 2014, Indonesia has been building a 32-kilometre ‘Giant Sea Wall’ in a bid to shield Jakarta from flooding — a project that is expected to cost US$50 billion. But sea walls have shallow foundations, so they follow the movement of the land, says Pietro Teatini, a hydrologist at the University of Padova in Italy, and chair of the UNESCO Land Subsidence International Initiative (LaSII), a working group that aims to spread knowledge on subsidence around the world and help developing countries to better address the issue. “If the land subsides, the wall subsides, too,” he says.Land and seaA comparison of five coastal cities and five inland cities in China shows how each group has been pursuing research in areas related to climate change and aquatic life and environments over the past six years. Output is measured by Share — a fractional metric that quantifies cities’ output in the high-quality natural-sciences and health-sciences journals tracked by the Nature Index.Successful measures Shanghai — the first city in China to identify subsidence — also faces the compounding effect of sinking ground and rising sea level. It sank by 1.69 metres from 1921 to 1965 as a result of excessive groundwater pumping. The city’s government has carried out a series of measures to tackle the issue over the past 60 years, mainly by restricting groundwater usage and replenishing groundwater supply using water from the Yangtze River, according to Ye Shujun, a hydrogeologist at Nanjing University in China. Those methods have reduced the speed at which Shanghai is sinking to within 6 millimetres a year, said Ye, who shared the city’s experience at a webinar organized by LaSII in early 2025.A lot of work has been done in China to address subsidence from scientific and technical points of view, says Teatini. “One of the most important” steps for tackling subsidence is the artificial recharging of groundwater, he says, which has proved effective in Shanghai. But he warns that the method is expensive, so it might be hard to introduce to poorer countries.Teatini points to the advanced equipment that Chinese cities use, such as extensometers, which measure how materials change under stress. Researchers drill down , sometimes to almost 1,000 metres, to place the devices at the bottom of Earth’s water-bearing layers, known as the aquifer system, to monitor which layers are compacting. “In Italy, we have three or four [extensometers] spread all over the country. In Shanghai, there are about 50,” says Teatini, who works with Chinese researchers regularly.Some of Teatini’s long-term collaborators come from the Capital Normal University in Beijing, which has forged a formal partnership with the University of Padova. They have teamed up in a series of studies, ranging from assessing the causes of Beijing’s subsidence to developing models for predicting the problem.To Teatini, China’s action to reduce land subsidence has been “very, very effective”. One of its achievements comes through the South–North Water Transfer Project, a colossal infrastructure project launched by the government to divert water from the south of the country to the water-stressed north. Although the main goal of the project is to balance water supplies, it has played a crucial role in mitigating long-term subsidence of the North China Plain by reducing the extraction of groundwater. Before the project went into operation in 2014, Beijing, situated in the country’s arid north, had heavily relied on groundwater and suffered severe subsidence of up to 159 millimetres a year as a result.

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    Sinking cities: how China is moving subsidence research forward

    As China’s cities become taller, bigger and more modern, they face a major problem: the ground beneath them is sinking. A 2024 study1 found that nearly half of the land under the country’s major cities is subsiding at a “moderate” rate of more than 3 millimetres a year, and 16% is experiencing “rapid” sinking, meaning greater than 10 millimetres annually.Many of these cities, such as Tianjin, Fuzhou and Ningbo, are located by the sea. The issue of land subsidence is so pressing that the study projected that one in ten residents of the country’s coastal cities will be living below sea level by 2120 if current trends continue.The consequences are already showing. In 2023, nearly 4,000 people in Tianjin — a port city of more than 13 million residents — had to be evacuated from high-rise apartment buildings after the streets outside suddenly split apart. Scientists sent to investigate the site believe that the problem was caused by a ‘geological cavity’ some 1,300 metres under the ground, according to the city’s government. They pointed to the drilling of a geothermal well as a possible trigger, which might have caused subterranean water and soil loss, leading the land to give way.Nature Index 2025 Science citiesChina’s plight provides a snapshot of a global crisis. Eight of the world’s ten largest cities are situated on the coast, including Shanghai, New York, India’s Mumbai and Lagos in Nigeria, and all of them are dealing with subsidence. The megacities that are rapidly expanding along Asia’s shores are among the fastest-sinking cities on the planet, according to a 2022 study2.The highest subsidence rates have been recorded in Tianjin, Vietnam’s Ho Chi Minh City and Bangladesh’s Chittagong; parts of these cities were found to be subsiding at peak speeds of more than 50 millimetres per year. In North America, subsidence is also widespread. An analysis of 28 major US cities, including coastal cities such as Houston and New York, published this year3 estimated that at least one-fifth of all mapped urban areas are sinking, affecting some 34 million people.Subsidence is not an issue that any one country can fight on its own. Some Chinese cities, such as Shanghai and Guangzhou, have modelled initiatives based on what’s worked in the Netherlands, for example, one of the lowest-lying countries in the world. Residents and institutions are encouraged by their local government to collect and reuse rainwater, such as by installing ‘green roofs’ covered with vegetation to hold rainwater, and building communal gardens to absorb or slow runoff.China is also passing on its knowledge to other developing countries. In 2023, Shenzhen shared its experience of evacuating people from partly subsided buildings with policymakers from Tripoli in Lebanon, through a collaborative effort co-organized by the United Nations Development Programme to help the city better respond to natural disasters.According to Liu Jianxin, a geophysicist at Central South University in Changsha, China, Chinese researchers are increasingly sharing data, writing papers and participating in workshops with international colleagues on the issue of subsidence. And, like Liu, many of them are based in inland cities that are also facing subsidence. “Tackling subsidence is a global effort,” Liu says.Coastal challengesCoastal cities are particularly susceptible to sinking because of their natural conditions. For one, they are often built on river deltas or coastal plains, where sediments compact over time, which leads to subsidence, says Ding Xiaoli, a geodesist at the Hong Kong Polytechnic University, who measures and monitors Earth’s shape and size. Some coastal cities, such as Tokyo, also sit on earthquake-prone areas, where tectonic activity can contribute to subsidence.But the growth of coastal cities itself — nearly one-third of the global population in 2018, or more than 2 billion, lived within 50 kilometres from the shore — is also greatly exacerbating the issue.Source: Cosby, A. G. et al. Sci. Rep. 14, 22489 (2024)In China, the main cause of subsidence linked to human activity is the excessive extraction of groundwater as cities expand, says Zhang Yonghong, a researcher at the Chinese Academy of Surveying and Mapping in Beijing. The practice lowers the underground water level, which causes the surrounding soil to compact and the land to sink. “The building of infrastructure, such as subways, can also cause parts of a city to subside,” Zhang says.Disruption to the natural recharging of groundwater owing to paved urban surfaces can worsen the situation, says Yu Kongjian, a landscape architect at Peking University in Beijing. “Land subsidence is one of the most profound manifestations of ecological mismanagement in urban regions,” he says.Cities are also getting heavier as they grow, says Zhao Qing, a geodesist at East China Normal University in Shanghai. Ongoing research by her team suggests that the increasing weight of buildings is one of the three factors — together with dropping groundwater levels and the nature of the soil — that are causing Shanghai and other cities in the Yangtze River Delta region to subside.None of the above is unique to China, and some of these issues — such as groundwater extraction and building weight — often affect cities inland, too. But on the coast, these factors are driving the land downwards in areas that also face accelerated sea-level rise owing to climate change.The speed at which sea levels are rising has more than doubled over the past three decades4, increasing from around 2.1 millimetres per year in 1993 to around 4.5 millimetres per year in 2023. By the end of this century, the global average sea level is projected to be up to 0.55 metres higher than the 1995–2014 average, even if the world limits global warming to 1.5 degrees above pre-industrial levels, as outlined in the Paris Agreement.A 2022 study5 that assessed 99 coastal cities around the world found that most of them saw parts of their land subside faster than the sea level was rising. At their current downward trajectories, they would be challenged by flooding much sooner than the timelines projected by sea-level models, the authors said. One of the cities that has been struck by this double whammy is Jakarta, the current capital of Indonesia, an archipelagic country on the frontline of fighting sea-level rise. More than 40% of the city is already below sea level — where risks of flooding, storm surges, infrastructure damage and economic and life losses are particularly high — and by the middle of the century up to 95% of its coastal areas might be submerged. The grim prospect was a major factor in Indonesia deciding to move its capital to a different island by 2028.Since 2014, Indonesia has been building a 32-kilometre ‘Giant Sea Wall’ in a bid to shield Jakarta from flooding — a project that is expected to cost US$50 billion. But sea walls have shallow foundations, so they follow the movement of the land, says Pietro Teatini, a hydrologist at the University of Padova in Italy, and chair of the UNESCO Land Subsidence International Initiative (LaSII), a working group that aims to spread knowledge on subsidence around the world and help developing countries to better address the issue. “If the land subsides, the wall subsides, too,” he says.Land and seaA comparison of five coastal cities and five inland cities in China shows how each group has been pursuing research in areas related to climate change and aquatic life and environments over the past six years. Output is measured by Share — a fractional metric that quantifies cities’ output in the high-quality natural-sciences and health-sciences journals tracked by the Nature Index.Successful measures Shanghai — the first city in China to identify subsidence — also faces the compounding effect of sinking ground and rising sea level. It sank by 1.69 metres from 1921 to 1965 as a result of excessive groundwater pumping. The city’s government has carried out a series of measures to tackle the issue over the past 60 years, mainly by restricting groundwater usage and replenishing groundwater supply using water from the Yangtze River, according to Ye Shujun, a hydrogeologist at Nanjing University in China. Those methods have reduced the speed at which Shanghai is sinking to within 6 millimetres a year, said Ye, who shared the city’s experience at a webinar organized by LaSII in early 2025.A lot of work has been done in China to address subsidence from scientific and technical points of view, says Teatini. “One of the most important” steps for tackling subsidence is the artificial recharging of groundwater, he says, which has proved effective in Shanghai. But he warns that the method is expensive, so it might be hard to introduce to poorer countries.Teatini points to the advanced equipment that Chinese cities use, such as extensometers, which measure how materials change under stress. Researchers drill down , sometimes to almost 1,000 metres, to place the devices at the bottom of Earth’s water-bearing layers, known as the aquifer system, to monitor which layers are compacting. “In Italy, we have three or four [extensometers] spread all over the country. In Shanghai, there are about 50,” says Teatini, who works with Chinese researchers regularly.Some of Teatini’s long-term collaborators come from the Capital Normal University in Beijing, which has forged a formal partnership with the University of Padova. They have teamed up in a series of studies, ranging from assessing the causes of Beijing’s subsidence to developing models for predicting the problem.To Teatini, China’s action to reduce land subsidence has been “very, very effective”. One of its achievements comes through the South–North Water Transfer Project, a colossal infrastructure project launched by the government to divert water from the south of the country to the water-stressed north. Although the main goal of the project is to balance water supplies, it has played a crucial role in mitigating long-term subsidence of the North China Plain by reducing the extraction of groundwater. Before the project went into operation in 2014, Beijing, situated in the country’s arid north, had heavily relied on groundwater and suffered severe subsidence of up to 159 millimetres a year as a result.

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    Bangladesh’s groundwater trade-offs from decarbonizing irrigation through solar-powered pumps

    AbstractSolar-powered irrigation systems are being scaled globally, especially in South Asia, to mitigate agriculture’s carbon emissions while addressing water–energy–food nexus challenges. However, this expansion raises concerns that solar irrigation could exacerbate groundwater overexploitation. Here we assess groundwater trade-offs of solar irrigation deployment in Bangladesh by comparing farmers’ water use for dry season paddy cultivation under diesel pumps and a solarized fee-for-service model. After accounting for soil, variety, land type and sowing time, no significant difference in terms of water application was found between solar (694–1,014 mm) and diesel (663–775 mm) plots in 2021–22 and 2022–23. A marginal 4.2 percentage point increase in dry season paddy area was observed under solar irrigation. Groundwater modelling shows solar irrigation has minimal regional impact, though risks arise if water use and dry-season area increase significantly. These results provide empirical evidence of changes in farmers’ water use after the transition to solar irrigation, but they are highly context-specific. Further research and tailored policies—such as water-saving practices, volumetric pricing, targeted scaling and smart subsidies—will ensure sustainable solar irrigation upscaling.

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    Fig. 1: Location of the study region in northwest Bangladesh.Fig. 2: Irrigation water application.Fig. 3: The groundwater model reliably simulates seasonal groundwater trends.Fig. 4: Spatial variation in the groundwater head changes at the end of the scenario modelling period (May 2015, with regard to the 2006 baseline) in northwest Bangladesh.Fig. 5: Extent of the study region in northwest Bangladesh, bounded by the Padma, Yamuna and Teesta rivers in the south, east and northeast, respectively, used for setting up the regional numerical groundwater model.

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    Data availability

    The data supporting the findings of this study are available via figshare at https://doi.org/10.6084/m9.figshare.30123757.v1 (ref. 47). For household survey data, refer to ref. 48.
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    Download referencesAcknowledgementsThis article was made possible through support provided by the Solar Irrigation for Agricultural Resilience project funded by the Swiss Agency for Development and Cooperation. The funders had no role in the study design, data collection and analysis, decision to publish or preparation of the manuscript. We thank the team from IDCOL, NGO Forum for Public Health and all the farmers who participated in our study, without whom this research would not have been possible.Author informationAuthors and AffiliationsInternational Water Management Institute, Delhi, IndiaMohammad Faiz Alam, Archisman Mitra, Smaranika Mahapatra & Alok SikkaInternational Water Management Institute, Vientiane, LaosPaul PavelicInternational Water Management Institute, Pelawatte, Sri LankaMarie-Charlotte BuissonNGO Forum for Public Health, Dhaka, BangladeshAhasan Habib, Tonmoy Kumer Saha & Abdul HaqueAuthorsMohammad Faiz AlamView author publicationsSearch author on:PubMed Google ScholarArchisman MitraView author publicationsSearch author on:PubMed Google ScholarSmaranika MahapatraView author publicationsSearch author on:PubMed Google ScholarPaul PavelicView author publicationsSearch author on:PubMed Google ScholarMarie-Charlotte BuissonView author publicationsSearch author on:PubMed Google ScholarAhasan HabibView author publicationsSearch author on:PubMed Google ScholarTonmoy Kumer SahaView author publicationsSearch author on:PubMed Google ScholarAbdul HaqueView author publicationsSearch author on:PubMed Google ScholarAlok SikkaView author publicationsSearch author on:PubMed Google ScholarContributionsConceptualization: M.F.A., A.M., P.P., A.S. and M.-C.B. Methodology: M.F.A., A.M., P.P., A.S. and M.-C.B. Data curation: M.F.A., A.M. and S.M. Investigation: A. Haque, A. Habib, and T.K.S. Visualization: M.F.A., A.M. and S.M. Supervision: P.P., A.S. and M.-C.B. Writing—original draft: M.F.A., A.M. and S.M. Writing—review and editing: P.P., M-C.B., A.S., A. Haque, A. Habib and T.K.S.Corresponding authorCorrespondence to
    Mohammad Faiz Alam.Ethics declarations

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    The authors declare no competing interests.

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    Nature Water thanks Simon Meunier, Lucie Pluschke and the other, anonymous, reviewer(s) for their contribution to the peer review of this work.

    Additional informationPublisher’s note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.Supplementary informationSupplementary InformationSupplementary Figs. 1 and 2 and Tables 1–8.Reporting SummaryRights and permissionsSpringer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.Reprints and permissionsAbout this articleCite this articleAlam, M.F., Mitra, A., Mahapatra, S. et al. Bangladesh’s groundwater trade-offs from decarbonizing irrigation through solar-powered pumps.
    Nat Water (2025). https://doi.org/10.1038/s44221-025-00534-4Download citationReceived: 09 April 2025Accepted: 09 October 2025Published: 13 November 2025Version of record: 13 November 2025DOI: https://doi.org/10.1038/s44221-025-00534-4Share this articleAnyone you share the following link with will be able to read this content:Get shareable linkSorry, a shareable link is not currently available for this article.Copy shareable link to clipboard
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