[1] Univ Tecn Lisboa, Inst Super Tecn, Ctr Marine Technol & Ocean Engn CENTEC, Ave Rovisco Pais, P-1049001 Lisbon, Portugal
[2] Dalian Maritime Univ, Nav Coll, Dalian 116026, Liaoning, Peoples R China
[3] Univ Teknol Malaysia, Inst Vehicle Syst & Engn, Fac Mech Engn, Marine Technol Ctr, Johor Baharu, Malaysia