1. Center for Ships and Ocean Structures, Department of Marine Technology; Norwegian University of Science and Technology; Trondheim NO-7491 Norway
2. Center for Autonomous Marine Operations and Systems, Department of Marine Technology and Department of Engineering Cybernetics; Norwegian University of Science and Technology; Trondheim NO-7491 Norway
3. Department of Electrical Engineering; Technical University of Denmark; Kongens Lyngby DK 2800 Denmark