1. a Department of Mechanical Engineering , Technical University of Denmark , Nils Koppels Allé, Building 403, DK-2800 Kgs, Lyngby, Denmark
2. b Port and Offshore Technology , Agern Allé 5, DK-2970, Hørsholm, Denmark E-mail:
3. c Department of Mechanical Engineering , Technical University of Denmark , Nils Koppels Allé, Building 403, DK-2800 Kgs, Lyngby, Denmark E-mail: