1. Federal University of Santa Catarina Department of Mobility Engineering, , Joinville-SC 89219-600 , Brazil
2. University of São Paulo Department of Naval Architecture and Ocean Engineering, , São Paulo-SP 05508-010 , Brazil
3. Petróleo Brasileiro S/A – PETROBRAS CENPES/PDDP/TDUT, , Rio de Janeiro-RJ 21941-915 , Brazil
4. The University of Tokyo Department of Systems Innovation, , Hongo Bunkyo-ku 113-8656 Tokyo , Japan