1. Vellore Institute of Technology, Chennai Campus, Chennai 600127, India
2. Department of Control Systems and Instrumentation, Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 17, Listopadu 2172/15, 70800 Ostrava, Czech Republic
3. Vellore Institute of Technology, Vellore 632014, India
4. Department of R&D, Bond Marine Consultancy, London EC1V 2NX, UK