Department;
of;
Mechanical;
and;
Electrical;
Engineering,;
Harbin;
Institute;
of;
Technology,;
Harbin;
150001,;
China;
Department;
of;
Mechanical;
and;
Electrical;
Engineering,;
Harbin;
Institute;
of;
Technology,;
Harbin;
150001,;
China;
College;
of;
Power;
and;
Nuclear;
Engineering,Harbin;
Engineering;
University,;
Harbin;
150001,;
China;
underwater; vehicle; mating; timed; fuzzy; Petri; net;