1. Navigation College, Dalian Maritime University, Dalian, People's Republic of China
2. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, People's Republic of China
3. Yangtze Delta Region Institute, University of Electronic Science and Technology of China, Huzhou, People's Republic of China
4. College of Mathematical Sciences, Bohai University, Jinzhou, People's Republic of China
5. Department of Computer Science, The University of Alabama, Tuscaloosa, AL, USA