GDAŃSK UNIVERSITY of TECHNOLOGY, FACULTY OF OCEAN ENGINEERING & SHIP TECHNOLOGY, DEPARTMENT of SHIP DESIGN and SUBSEA ROBOTICS 80-233 Gdańsk, ul.Narutowicza 11/12, Poland ph. (48 58) 347 19 91, fax: (+48 58) 347 26 99, e-mali: sek8oce@pg.gda.pl