1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China e-mail:
2. Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham Ningbo China, Ningbo 315100, China e-mail:
3. No. 1 Department, Wuhan Second Ship Design and Research Institute, Wuhan 430074, China e-mail: