1. State Key Laboratory of Hydraulic Engineering Simulation and Safety, Tianjin University, Tianjin 30072, China; Marine Renewable Energy Laboratory, University of Michigan, Ann Arbor, MI 48109-2145 e-mail:
2. Marine Renewable Energy Laboratory, University of Michigan, Ann Arbor, MI 48109-2145; College of Aerospace and Civil Engineering, Harbin Engineering University, Harbin 150001, China e-mail:
3. Marine Renewable Energy Laboratory, University of Michigan, Ann Arbor, MI 48109-2145; School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China e-mail:
4. Marine Renewable Energy Laboratory, University of Michigan, Ann Arbor, MI 48109-2145; Department Naval Architecture and Marine Engineering, Department Mechanical Engineering, CTO Vortex Hydro Energy, Ann Arbor, MI 48108 e-mail: