1. Centre for Ships and Ocean Structures (CeSOS), Norwegian University of Science and Technology, Trondheim 7491, Norway e-mail:
2. Fedem Technology AS, Trondheim 7014, Norway
3. Department of Marine Technology, Norwegian University of Science and Technology, Trondheim 7491, Norway
4. Centre for Ships and Ocean Structures (CeSOS);
5. Department of Marine Technology;
6. Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology, Trondheim 7491, Norway