1. National Subsea Centre, Robert Gordon University, Aberdeen, U.K.
2. Department of Electronic and Electrical Engineering, University of Strathclyde, Glasgow, U.K.
3. Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow, U.K.
4. INVENT GmbH, Braunschweig, Germany
5. Fraunhofer Institute for Machine Tools and Forming Technology IWU, Wolfsburg, Germany