1. Key Laboratory of In-Situ Property-Improving Mining of Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China
2. Academy of Military Science, Beijing 100091, China
3. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
4. Unmanned Vehicle Innovation Center, Ningbo Institute of NPU, Ningbo 315048, China