1. IDMEC/IST, Technical University of Lisbon, 1049-001 Lisboa, Portugal;
2. Department of Earth Sciences, University College London, London WC1E 6BT, United Kingdom;
3. Department of Mechanical Engineering, University College London, London WC1E 7JE, United Kingdom;
4. Laboratory for Aero and Hydrodynamics, Department of Mechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands;