1. Navigation College, Dalian Maritime University, 1 Linghai Road, Dalian, Liaoning 116026, China
2. School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada, T6G 1H9
4. School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China