Paulo Dias¹, Michael Incze², Keila Lima¹, Maria Costa¹, Manuel Ribeiro¹, Joao Tasso Borges de Sousa¹, Joshua Baghdady³, Ben Jones³, Noah Hafner³, A. Zachary Trimble⁴, Raymond Andrade⁴ and Margo Edwards³, (1)University of Porto, LSTS, Department of Electrical and Computer Engineering, School of Engineering (FEUP), Porto, Portugal, (2)Naval Undersea Warfare Center, Division Newport, Newport, RI, United States, (3)University of Hawai'i, Applied Research Laboratory, Honolulu, HI, United States, (4)University of Hawai'i at Mānoa, RIP Laboratory, Department of Mechanical Engineering, Honolulu, HI, United States