Funding information This work was supported by the National Science Foundation of China (grant no. 51275224 no. 51575250;
51775254;
51675249;
and;
51705218);
the Province Joint Research Project of Jiangsu Province of China (grant no. BY2015065-06 and BY 2015065-02);
the Collaborative Innovation Center of Ship Technology of China (grant no. HZ20170004);
and the Priority Academic Program Development of Jiangsu Higher Education Institutions of China;