1. School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 P. R. China
2. Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai 200092 P. R. China
3. Department of Applied Physics State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing 400044 P. R. China
4. Department of Mechanical Engineering City University of Hong Kong Hong Kong 999077 China
5. Engineering Research Center of Unmanned Intelligent Marine Equipment Ministry of Education Shanghai 200444 P. R. China