[1] College of Electro-mechanical Eng., Qingdao Univ. of Science and Technology, Qingdao 266061, China
[2] Dept. of Mechanical Eng., Univ. of British Columbia, Vancouver V6T 1Z4, Canada
[3] Dept. of Mechanical and Aeronautical Eng., Qingdao Branch, Naval Aeronautical Eng. Academy, Qingdao 266041, China
[4] School of Naval Architecture, Ocean and Civil Eng., Shanghai Jiaotong Univ., Shanghai 200030, China