1. The 713 Research Institute of CSIC, Zhengzhou 450015, China
2. The Underwater Intelligent Equipment Laboratory of Henan Province, Zhengzhou 450015, China
3. College of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114, China
4. Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-Performance Mechanical Equipment, Changsha University of Science and Technology, Changsha 410114, China
5. College of Power and Energy Engineering, Harbin Engineering University, Harbin 150001, China