1. School of Mechatronic Engineering and Automation Shanghai University 99 Shangda Rd. Shanghai 200444 P. R. China
2. Department of Applied Physics Chongqing University Chongqing 400044 P. R. China
3. Engineering Research Center of Unmanned Intelligent Marine Equipment Ministry of Education 99 Shangda Rd. Shanghai 200444 P. R. China
4. School of Computer Engineering and Science Shanghai University 99 Shangda Rd. Shanghai 200444 P. R. China
5. Department of Mechanical and Industrial Engineering University of Toronto 5 King's College Rd. Toronto M5S 3G8 Canada