1. Yantai Research Institute, Harbin Engineering University, Yantai 261400, China
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
3. HEU-UL International Joint Laboratory of Naval Architecture and Offshore Technology, Harbin 150001, China
4. Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, 1649-003 Lisbon, Portugal