1. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150009, China
2. Shanghai Shipbuilding Technology Research Institute, Shanghai 201203, China
3. State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 201203, China
4. Beijing Key Lab of Precision/Ultra-Precision Manufacturing Equipments and Control, Department of Mechanical Engineering, Tsinghua University, Beijing 201203, China