[1] Univ Tasmania, Coll Sci & Engn, Australian Maritime Coll, Ctr Maritime Engn & Hydrodynam, Launceston 7248, Australia
[2] Macquarie Univ, Sch Engn, Sydney, NSW 2109, Australia
[3] Queensland Univ Technol, Fac Engn, Sch Mech Med & Proc Engn, Brisbane, Qld, Australia
[4] Harwood Marine, Harwood, NSW 2465, Australia