1. School of Mechanical Engineering and Automation, Shanghai University, Shanghai, China
2. Collaborative Innovation Center for the Marine Artificial Intelligence, School of Mechanical Engineering and Automation, Shanghai University, Shanghai, China
3. School of Mechanical Engineering and Automation, Engineering Research Center of Unmanned Intelligent Marine Equipment, Ministry of Education, Shanghai University, Shanghai, China
4. Shaoxing Institute of Technology, Shanghai University, Shanghai, China
5. State Key Laboratory of Mechanical Transmissions, Chongqing University, Chongqing, China