1. College of Mechanical and Electronic Engineering, China University of Petroleum (East China) 1 , Qingdao 266580, China
2. Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences) 2 , Qingdao 266100, China
3. School of Ocean Technology Sciences, Qilu University of Technology (Shandong Academy of Sciences) 3 , Qingdao, China