1. School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian, Liaoning 116026, China e-mail:
2. School of Marine Engineering, Dalian Maritime University, Dalian, Liaoning 116026, China e-mail:
3. School of Power and Energy, Northwestern Polytechnical University, 127 West Youyi Road, Xi'an 710072, China e-mail:
4. Department of Mechanical Engineering Sciences, University of Surrey, Guildford GU2 7XH, Surrey, UK e-mail: