1. Maritime Division, Department of Defense Science and Technology Sydney, Locked Bay 7005, Liverpool New South Wales 1871, Australia
2. Department of Electrical and Computer Engineering, University of Massachusetts Dartmouth, 285 Old Westport Road, Dartmouth, Massachusetts 02747, USA
3. Department of Mathematical Sciences, New Jersey Institute of Technology, University Heights, Newark, New Jersey 07102, USA
4. School of General Engineering, Beihang University, Beijing, China