1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China;
2. Collaborative Innovation Centre for Advanced Ship and Deep-Sea Exploration, Shanghai 200240, China
3. Collaborative Innovation Centre for Advanced Ship and Deep-Sea Exploration, Shanghai 200240, China;
4. Marintek, Trondheim 7052, Norway e-mail: ;
5. Marine Design & Research Institute of China, Shanghai 200011, China
6. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China