1. Shandong Provincial Key Laboratory of Ocean Engineering, No. 238 Chung Ling Rd., Qingdao 266100, China (Corresponding author), e-mail: chenxuguang1984@gmail.com, https://orcid.org/0000-0003-3425-2313
2. Ocean University of China, No. 238 Chung Ling Rd., Qingdao 266100, China
3. Key Laboratory of Ministry of Education for Geomechanics and Embankment Engineering, Hohai University, No. 1 Xikang Rd., Nanjing 210098, China
4. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, No. 145 Nantong Ave., Harbin 150001, China
5. Shandong Provincial Key Laboratory of Ocean Engineering, No. 238 Chung Ling Rd., Qingdao 266100, China