1. Faculty of Aerospace Engineering, Technion-Israel Institute of Technology, Haifa 32000, Israel
2. Department of Naval Architecture, University of West Attica, Egaleo 122 43, Greece
3. Institute of Applied and Computational Mathematics F.O.R.T.H., Heraklion 71110, Greece
4. Department of Applied Mathematics, University of California, Merced, Merced 95343, California, USA