1. School of Mechatronic Engineering and Automation, Shanghai University 1 , Shanghai 200444, China
2. Institute of Artificial Intelligence, Collaborative Innovation Center for the Marine Artificial Intelligence, Shanghai University 2 , Shanghai 200444, China
3. School of Future Technology, Shanghai University 3 , Shanghai 200444, China
4. Shanghai Institute of Applied Mathematics and Mechanics, School of Mechanics and Engineering Science, Shanghai Key Laboratory of Mechanics in Energy Engineering, Shanghai Frontier Science Center of Mechanoinformatics, Shanghai University 4 , Shanghai 200072, China
5. Engineering Research Center of Unmanned Intelligent Marine Equipment, Ministry of Education 5 , Shanghai 200444, China
6. Shanghai Artificial Intelligence Laboratory 6 , Shanghai 200232, China