1. Department of Computer Science, Shaoxing University, Shaoxing, Zhejiang, P.R. China
2. College of Transport and Communications, Shanghai Maritime University, Shanghai, China
3. Institute of Rock Mechanics, Ningbo University, Ningbo, Zhejiang, P.R. China
4. Department of Electrical and Information Engineering, Shaoxing University, Shaoxing, Zhejiang, P.R. China
5. Navigation College, Dalian Maritime University, Dalian, P.R. China
6. Department of Civil and Environmental Engineering, Rutgers, The State University of New Jersey, Piscataway, NJ, USA