1. Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
2. Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai 200240, China; MOE Key Laboratory of Hydrodynamics (SJTU), Shanghai 200240, China;
3. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration (CISSE), Shanghai 200240, China e-mail:
4. Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai 200240, China; MOE Key Laboratory of Hydrodynamics (SJTU), Shanghai 200240, China e-mail:
5. Department of Engineering Mechanics, Shanghai Jiao Tong University, Shanghai 00240, China; MOE Key Laboratory of Hydrodynamics (SJTU), Shanghai 200240, China;
6. China Ship Scientific Research Center, Wuxi 214082, China e-mail: