1. Yantai Research Institute of Harbin Engineering University, Harbin Engineering University, Yantai 264006, 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, 1049-001 Lisbon, Portugal