1. Institute of Marine Hydrodynamics, Harbin Engineering University, Harbin, China
2. CNR-INM, Marine Technology Research Institute, Via di Vallerano 139, 00128 Roma, Italy
3. NTNU-AMOS, Center for Autonomous Marine Operation Systems, Otto Nielsens vei 10, N-7491 Trondheim, Norway
4. Universitá degli Studi della Campania ‘Luigi Vanvitelli’, Via Roma 29-81031 Aversa (CE), Italy