1. Department of Mechanical Engineering, Universidade Federal do Rio de Janeiro, COPPE, 21.941.972, Rio de Janeiro, RJ, P.O. Box 68.503, Brazil
2. CSIRO Petroleum, Drilling Mechanics, Kensington WA 6151, P.O. Box 1130, Bentley WA 6102, Australia
3. Pontifícia Universidade Católica do Rio de Janeiro, Department of Mechanical Engineering, 22.453.900, Rio de Janeiro, RJ, Brazil