1. China Southern Power Grid Technology Co., Ltd., Guangzhou 510080, China
2. Guangdong Engineering Technology Research Center of Special Robots for Special Industries, Guangzhou 510080, China
3. Institute of Marine Science and Technology, Shandong University, Qingdao 266237, China
4. Department of Computer Science, University of Exeter, Exeter EQ4 4QN, UK
5. Laboratory of Interdisciplinary Problems in Energy Production, Ulyanovsk State Technical University, Ulyanovsk 432027, Russia