1. Department of Naval Architecture and Marine Engineering, Faculty of Engineering, Alexandria University, Alexandria 21544, Egypt
2. Laboratório de Sistemas e Tecnologia Subaquática (LSTS), Faculdade de Engenharia, Universidade do Porto, 4200-465 Porto, Portugal
3. Department of Applied Physics and Naval Technology, Faculty of Naval and Ocean Engineering, Technical University of Cartagena, 30203 Cartagena, Spain