[1] Key Laboratory of Underwater Acoustic Communication and Marine Information Technology, The Ministry of Education, College of Ocean and Earth Sciences, Xiamen University, Fujian Province, Xiamen City,361005, China
[2] Engineering Department, University of Cambridge, Cambridgeshire, Cambridge,CB2 1PZ, United Kingdom
[3] State Key Laboratory of Marine Environmental Science, College of Ocean and Earth Sciences, Xiamen University, Fujian Province, Xiamen City,361005, China
[4] Department of Mechanical Engineering, San Diego State University, San Diego,CA,92182-1323, United States
[5] School of Aerospace, Transport and Manufacturing, Cranfield University, Bedfordshire, Cranfield,MK43 0AL, United Kingdom
[6] Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Fujian Province, Xiamen City,361005, China
[7] Discipline of Intelligent Instrument and Equipment, Xiamen University, Fujian Province, Xiamen City,361005, China