[1] Ocean Univ China, Coll Engn, Qingdao 266100, Peoples R China
[2] Beijing Aerosp Unmanned Vehicles Syst Engn Res In, Beijing 100094, Peoples R China
[3] Qingdao Univ Technol, Sch Civil Engn, Qingdao 266033, Peoples R China
[4] Cooperat Innovat Ctr Engn Construct & Safety Shan, Qingdao 266033, Peoples R China
[5] Harbin Engn Univ, Sci & Technol Underwater Vehicle Lab, Harbin 150001, Heilongjiang, Peoples R China