1. School of Science, Wuhan University of Technology, Wuhan 430070, China
2. Department of Ocean Technology, Policy and Environment, The University of Tokyo, Tokyo 1538505, Japan
3. School of Navigation, Wuhan University of Technology, 430070 Wuhan, China
4. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430070, China
5. Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, Glasgow, Scotland G1 1XQ, United Kingdom
6. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia