1. Key Laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao, China
2. Department of Advanced Manufacturing and Robotics, College of Engineering, State Key Laboratory for Turbulence and Complex Systems, Peking University, Beijing, China
3. Northeastern University, Qinhuangdao, China
4. Department of Technology, National Deep Sea Center, Qingdao, China