1. Faculty of Mechanical Engineering, Gdańsk University of Technology, 80-233 Gdańsk Narutowicza 11/12, Poland e-mail:
2. Institut Pprime, CNRS-Université de Poitiers-ENSMA, UPR 3346, Dépt. Génie Mécanique et Systèmes Complexes SP2MI, Bd Marie et Pierre Curie, BP 30179 F86962 Futuroscope Chasseneuil Cedex, France e-mail:
3. ALSTOM Hydro (Switzerland) Ltd, Zentralstrasse 40, 5242 Birr, Switzerland e-mail:
4. Faculty of Mechanical Engineering, Gdańsk University of Technology, 80-233 Gdańsk, Narutowicza 11/12, Poland e-mail: