1. Department of Electrical Engineering, National Taiwan Ocean University, Keelung 202301, Taiwan
2. Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, Keelung 202301, Taiwan
3. The Intelligent Maritime Research Center (IMRC), National Taiwan Ocean University, Keelung 202301, Taiwan
4. Department of Electrical Engineering, AI Research Center, National Taiwan Ocean University, Keelung 202301, Taiwan