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Drawing upon person–supervisor fit theory, a model is developed to illustrate how leader–member trait mindfulness (in)congruence may impact leader–member exchange (LMX) and how such trait mindfulness (in)congruence can indirectly influence taking charge.

Polynomial regression and response surface methodology are used to analyze 237 valid matched leader–member dyads.

LMX increases as leaders' and members' trait mindfulness become more aligned; LMX is higher when leader–member dyads are congruent at high levels (vs low levels). In the case of incongruence, LMX is higher when the member's trait mindfulness exceeds that of the leader. Furthermore, the relationship between leader–member trait mindfulness (in)congruence and taking charge is mediated by LMX.

The joint and interactive role of high trait mindfulness in leader–member dyads can help them to generate high-quality interpersonal exchange, as well as to cope with challenges posed by present and future changes.

The linear, nonlinear, simultaneous and interactive effects of dyadic trait mindfulness expand previous research, clarifying that the evaluation of leader–member congruence and incongruence at various degrees, and for various patterns of trait mindfulness, is more informative than examining the direct effect alone.

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.