1. Centre for Ships and Ocean Structures (CeSOS); Centre for Autonomous Marine Operations and Systems (AMOS); Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim NO-7491, Norway e-mail:
2. Centre for Ships and Ocean Structures (CeSOS); Centre for Autonomous Marine Operations and Systems (AMOS); Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim NO-7491, Norway