Acknowledgements

The authors wish to thank all the researchers at the AUV Lab in Harbin Engineering University without whom it would have been impossible to write this chapter. Specifically, the authors would like to thank Professor Yuru Xu who is the subject leader of Naval Architecture and Ocean Engineering in Harbin Engineering University and has been elected as the member of Chinese Academy of Engineering since 2003. Moreover, the authors would like to thank Pang Shuo who is an assistant professor of Embry-Riddle Aeronautical University in USA.

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