1. Department of Marine Technology, Centre for Ships and Ocean Structures (CeSOS), Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU), Trondheim NO-7491, Norway; Departamento de Ingeniería Mecánica, Escuela Politécnica Nacional (EPN), Quito 17-01-2759, Ecuador e-mails: ,
2. Department of Marine Technology, Centre for Ships and Ocean Structures (CeSOS), Centre for Autonomous Marine Operations and Systems (AMOS), Norwegian University of Science and Technology (NTNU), Trondheim NO-7491, Norway