1. College of Engineering, Ocean University of China, 238 Songling Road, Qingdao 266100, China
2. Shandong Provincial Key Laboratory of Ocean Engineering, 238 Songling Road, Qingdao 266100, China
3. Pilot National Laboratory for Marine Science and Technology (Qingdao), 1, Wenhai Road, Aoshanwei, Jimo, Qingdao 266237, China
4. Qingdao Municipal Key Laboratory of Ocean Renewable Energy, Ocean University of China, Qingdao 266100, China
5. School of Computing, Engineering and Mathematics, Western Sydney University, Penrith, New South Wales 2751, Australia