[1] Harbin Inst Technol Weihai, Sch Ocean Engn, Weihai 264209, Peoples R China
[2] North China Univ Technol, Sch Mech & Mat Engn, 5 Jinyuanzhuang Rd, Beijing 100144, Peoples R China
[3] Strathclyde Univ, Dept Naval Architecture Ocean & Marine Engn, Glasgow City G4 0LZ, Scotland