1. SJTU-CU International Cooperative Research Center, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China e-mail: fuyouliang@sjtu.edu.cn
2. Institute of Industrial Science, The University of Tokyo, Tokyo 153-8505, Japan
3. Department of Mathematics and Statistics, York University, Toronto, ON M3J 1P3 Canada
4. SJTU-CU International Cooperative Research Center, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, China;
5. Graduate School of Engineering, Chiba University, Chiba-Shi, Chiba 263-8522, Japan
6. Department of Mechanical Engineering, The University of Tokyo, Tokyo 113-8654, Japan