1. Key Laboratory of High Performance Ship Technology, Ministry of Education, Wuhan University of Technology, Wuhan, Hubei, China
2. School of Transportation, Wuhan University of Technology, Wuhan, Hubei, China
3. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China
4. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan, Hubei, China