1. School of Transportation, Wuhan University of Technology, No. 1178, Heping Road, Wuhan 430063, Hubei, China
2. School of Transportation, Wuhan University of Technology, No. 1178, Heping Road, Wuhan 430064, Hubei, China
3. Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, Lisbon 1049-001, Portugal