1. Key Laboratory of High-Performance Ship Technology, (Wuhan University of Technology), Ministry of Education, Wuhan 430063, P. R. China
2. Faculty of Engineering and Physical Science, University of Southampton, Southampton SO16 7QF, UK
3. School of Transportation, Wuhan University of Technology, Wuhan 430063, P. R. China
4. School of Science, Wuhan University of Technology, Wuhan 430061, P. R. China