1. College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China
2. State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering, Institute of Soft Matter Mechanics, College of Mechanics and Materials, Hohai University, Nanjing 210098, China e-mail:
3. State Key Laboratory of Hydrology-Water Resources and Hydraulic Engineering, Institute of Soft Matter Mechanics, College of Mechanics and Materials, Hohai University, Nanjing 210098, China;
4. Department of Informatics, University of Oslo, P. O. Box 1080, Oslo NO-0316, Norway
5. Department of Informatics, University of Oslo, P. O. Box 1080, Oslo NO-0316, Norway e-mail: