1. National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, China
2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4. Key Laboratory of Marine Robotics, Shenyang 110169, China