1. Qingdao Ship Science and Technology Co., Ltd., Harbin Engineering University, Qingdao 266000, China
2. College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
3. College of Ocean Science and Engineering, Shandong University of Science and Technology, Qingdao 266590, China
4. College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China