[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, North Spine N3,Level 2,50 Nanyang Ave, Singapore 639798, Singapore
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, 50 Nanyang Ave, Singapore 639798, Singapore
[3] Hong Kong Polytech Univ, Dept Ind & Syst Engn, Hung Hom, Hong Kong, Peoples R China
[4] Shanghai Maritime Univ, Sch Econ & Management, Shanghai 201306, Peoples R China