About the Authors

Yulei Liao

liaoyulei@hrbeu.edu.cn

Affiliation Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China

Leifeng Wang

Affiliation Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China

Yiming Li

Affiliation Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China

Ye Li

Affiliation Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China

Quanquan Jiang

Affiliation Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, Heilongjiang, China

Competing Interests

The authors have declared that no competing interests exist.

Author Contributions

Conceptualization: Y. Liao LW Yiming Li Ye Li. Data curation: Y. Liao LW Yiming Li. Formal analysis: Y. Liao LW. Investigation: Y. Liao LW Yiming Li. Methodology: Y. Liao LW Yiming Li. Project administration: Ye Li. Resources: Y. Liao Ye Li. Software: Y. Liao LW Yiming Li. Supervision: Y. Liao Ye Li. Validation: Y. Liao Ye Li LW. Visualization: Y. Liao QJ. Writing – original draft: Y. Liao LW. Writing – review & editing: LW.