1. School of Mechanical Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China
2. Shandong Institute of Mechanical Design and Research, Jinan 250031, China
3. Faculty of Engineering, Information and Systems, University of Tsukuba, Tennodai 1-1-1, Ibaraki, Tsukuba 305-8573, Japan
4. School of Ocean Engineering and Technology, Sun Yat-sen University & Southern Marine Science and Engineering Guangdong Laboratory (Zhuhai), Zhuhai 519000, China