1. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China
2. Engineering Research Center of Unmanned Intelligent Marine Equipment, Ministry of Education, 99 Shangda Rd., Shanghai 200444, China
3. School of Computer Engineering and Science, Shanghai University, Shanghai 200444, China
4. The State Key Lab of Mechanical Transmission, Chongqing University, Chongqing 400044, China