Department of Marine Technology;
Norwegian University of Science and Technology;
Trondheim NO-7491;
Norway;
Departamento de Ingenieria Mecanica;
Escuela Politecnica Nacional;
Quito 17-01-2 759;
Ecuador;
Centre for Ships and Ocean Structures;
Norwegian University of Science and Technology;
Trondheim NO-7491;
Norway;
Centre for Autonomous Marine Operations and Systems;
Norwegian University of Science and Technology Trondheim NO-7491;
Norway;