1. Department of Mechanical Engineering, The University of Tulsa, Tulsa, OK 74104, USA
2. Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan 49112, South Korea
3. Division of Logistics, Korea Maritime and Ocean University, Busan 49112, South Korea
4. Division of Navigation and Information Systems, Mokpo National Maritime University, Mokpo, Jeollanam-do 58628, South Korea