1. Statoil ASA, Forusbeen 50, Stavanger 4035, Norway;
2. Institute of Marine Technology, Norwegian University of Science and Technology (NTNU), Otto Nielsens vei 10, Trondheim 7491, Norway e-mail:
3. Department of Mechanical and Structural Engineering and Materials Science, University of Stavanger, Kjell Arholms gate 41, Stavanger 4036, Norway;