Funding for this research was provided by:
National Natural Science Foundation of China (51709170)
Shanghai Sailing Program (17YF1409700)
Ministry of Industry and Information Technology of the People’s Republic of China (Mooring position technology)
National Key Research and Development Program of China (2016YFC0303405)
Article History
Received: 23 January 2018
Accepted: 14 July 2018
First Online: 18 July 2018