Acknowledgment

This work was supported by the National Basic Research Program of China (Grant No. 2014CB046201), the National Natural Science Foundation of China (Grant Nos. 51465033, 51766009, and 51479114), the Thousand Talents Program, NSFC-RCUK_EPSRC, the platform construction of ocean energy comprehensive supporting service (2014) (Grant No. GHME2014ZC01), the High-tech Ship Research Projects Sponsored by MIITC Floating Support platform project (Grant No. 201622), and the State Key Laboratory of Ocean Engineering at Shanghai Jiao Tong University.

Interest statement

These authors contributed equally to this work.

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