1. School of Information and Control Engineering, Qingdao University of Technology, 777 Jialingjiang Road, Qingdao 266520, China
2. Innovation Institute for Sustainable Maritime Architecture Research and Technology, Qingdao University of Technology, Fushun Road 11, Qingdao 266033, China
3. Faculty of Environmental Engineering, The University of Kitakyushu, Kitakyushu 808-0135, Japan