1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
2. Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an 710072, China
3. Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow G4 0LZ, United Kingdom
4. LadHyX, Department of Mechanics, CNRS, Ecole Polytechnique, 91128 Palaiseau, France