1. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
2. School of Ocean Engineering, Harbin Institute of Technology, Weihai 264209, China
3. Department of Marine Technology, Norwegian University of Science and Technology, 7491 Trondheim, Norway
4. Department of Civil and Environmental Engineering, Norwegian University of Science and Technology, 7491 Trondheim, Norway