1. Department of Mechanical Engineering, Mechatronics Institute Bocholt, Westphalian University, Münsterstraße 265, 46397 Bocholt, Germany
2. Department of Mechanical Engineering, University Duisburg-Essen, Lotharstraße 1, 47057 Duisburg, Germany
3. Department of Mechanical Engineering, Institute for Ship Technology, Ocean Engineering and Transport Systems, University Duisburg-Essen, Bismarckstraße 69, 47057 Duisburg, Germany