1. Intelligent Transport Systems Research Centre, Wuhan University of Technology, Wuhan, China
2. Engineering Research Centre for Transportation Safety, Ministry of Education, Wuhan University of Technology, Wuhan, China
3. Research and Development Base on Waterway Transportation Safety and Anti-pollution of CJRDC Ministry of Transport, Wuhan, China
4. Liverpool Logistics, Offshore and Marine (LOOM) Research Institute, Liverpool John Moores University, Liverpool, UK