The deep-sea environment has the characteristics of high pressure and low temperature. In addition to the extremely high requirements on the structural reliability, the ultra-high ambient pressure also has a great impact on the working characteristics of the hydraulic source. In this paper, the efficiency characteristics of a deep-sea hydraulic source are studied in the full-ocean-depth pressure range. According to the power transfer process, the efficiency of the deep-sea motor, gear pump and hydraulic circuit is analyzed. In so doing, the oil friction loss of the motor rotor, the internal leakage of the gear pump, the viscous friction loss of the hydraulic system, etc., are calculated. Then, simulating the deep-sea high-pressure environment by the pressure cylinder, the output characteristics and corresponding input power of the prototype are measured. By analyzing the experimental data, the efficiency characteristic curve of the hydraulic source prototype, changing with the ambient pressure, is obtained. The experimental and calculation results show that, with the increase of ambient pressure, the system efficiency of the hydraulic source prototype increases first and then decreases.

The ability of unmanned surface vehicles (USV) on motion control and the accurate following of preset paths is the embodiment of its autonomy and intelligence, while there is extensive room for improvement when expanding its application scenarios. In this paper, a model fusion of USV and preset path was carried out through the Serret-Frenet coordinate system. Control strategies were then scrupulously designed with the help of Lyapunov stability theory, including resultant velocity control in the presence of drift angle, course control based on the nonlinear backstepping method, and reference point velocity control as a virtual control variable. Specifically, based on USV resultant velocity control, this paper proposes respective solutions for two common scenarios through velocity planning. In a derailment correction scenario, an adaptive reference velocity was designed according to the position and attitude of USV, which promoted its maneuverability remarkably. In a dynamic obstacle avoidance scenario, an appropriate velocity curve was searched by dynamic programming on ST graph and optimized by quadratic programming, which enabled USV to evade obstacles without changing the original path. Simulation results proved the convergence and reliability of the motion control strategies and path following algorithm. Furthermore, velocity planning was verified to perform effectively in both scenarios.