[1] Univ West Scotland UWS, Sch Comp Engn & Phys Sci, London E14 2BE, England
[2] Univ Wollongong, Sch Business & Law, Northfields Ave, Wollongong, NSW 2522, Australia
[3] Polytech Montreal, Dept Math & Ind Engn, Montreal, PQ H3T 1J4, Canada
[4] Embry Riddle Aeronaut Univ, Coll Aviat, Dept Safety Sci, Prescott, AZ 86301 USA
[5] Embry Riddle Aeronaut Univ, Robertson Safety Inst RSI, Prescott, AZ 86301 USA
[6] Univ Lisbon, Ctr Marine Technol & Ocean Engn CENTEC, Inst Super Tecn, P-1649004 Lisbon, Portugal