1 2nd Fleet, ROK Navy Pyungtaek 17952 South Korea.
2 Department of Mechanical Engineering, Tokyo Institute of Technology Meguro-ku Tokyo 152-8550 Japan kim.d.as@m.titech.ac.jp.
3 Division of Marine Engineering, Korea Maritime and Ocean University 727 Taejong-ro, Yeongdo-gu Busan 49112 Republic of Korea junkang@kmou.ac.kr skywonju@kmou.ac.kr.