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. Luoyang Ship Material Research Institute, Xiamen 361100, China
4. State Key Laboratory of Advanced Special Steel & Shanghai Key Laboratory of Advanced Ferrometallurgy & School of Materials Science and Engineering, Shanghai University, Shanghai 200444, China
5. Guangxi Key Laboratory of Information Materials, Guilin University of Electronic Technology, Guilin 541004, China