[1] [1] HEIDEMANN J, STOJANOVIC M, ZORZI M. Underwater sensor networks: Applications, advances and challenges［J］. Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2012,370(1958):158-75.

[2] [2] XIE F, ZUO Q, CHEN Q, et al. Designs of the biomimetic robotic fishes performing body and/or caudal fin (BCF) swimming locomotion: A review［J］. Journal of Intelligent & Robotic Systems, 2021, 102:13.

[5] [5] ABBAS W B, AHMED N, USAMA C, et al. Design and evaluation of a low-cost, DIY-inspired, underwater platform to promote experimental research in UWSN［J］. Ad Hoc Networks, 2015, 34:239-251.

[6] [6] ZIA M Y I, OTERO P, PONCELA J. Design of a low-cost modem for short-range underwater acoustic communications［J］. Wireless Personal Communications, 2018,101:375-390.

[7] [7] KLEUNEN W A P, MOSELEY N, HAVINGA P, et al. Proteus II: Design and evaluation of an integrated power-efficient underwater sensor node［J］. International Journal of Distributed Sensor Networks,2015,11(10):1-10.

[9] [9] HUANG Q, WANG H, HAO S, et al. Design and fabrication of a high-frequency single-directional planar underwater ultrasound transducer［J］. Sensors, 2019,19(19):4336.

[12] [12] ANTONIO S, BLANC S, YUSTE P, et al. An ultra-low power and flexible acoustic modem design to develop energy-efficient underwater sensor networks［J］. Sensors, 2012, 12(6):6837-6856.