1. Norwegian University of Science and Technology Department of Marine Technology, , Jonsvannsveien 82, Trondheim 7050 , Norway
2. Norwegian University of Science and Technology Department of Marine Technology, , Jonsvannsveien 82, Trondheim 7050 , Norway ;
3. Shanghai Jiao Tong University School of Naval Architecture, Ocean and Civil Engineering, , 800 Dongchuan Road, Shanghai 200240 , China
4. Dalian University of Technology Faculty of Infrastructure Engineering, , Linggong Road No. 2, Dalian 116024 , China ;
5. Ningbo Institute of Dalian University of Technology , Yucai Road 26, Ningbo 315000 , China