1. School of Information and Electrical Engineering, Hangzhou City University, Hangzhou 310015, China
2. Science and Technology on Underwater Vehicle Technology Laboratory, Harbin Engineering University, Harbin 150001, China
3. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
4. School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China