1. The University of Tokyo OSPL—Ocean Space Planning Laboratory, Department of Systems Innovation, School of Engineering, , Bunkyo-ku, Tokyo 113-8656 , Japan
2. Technomar Engenharia Oceânica , São Paulo, SP 03178-200 , Brazil
3. Escola Politécnica, University of São Paulo TPN—Numerical Offshore Tank Laboratory, Department of Naval Architecture and Ocean Engineering, , São Paulo, SP 05508-030 , Brazil
4. The University of Tokyo OSPL—Ocean Space Planning Laboratory, Department of Ocean Technology, Policy, and Environment, School of Frontier Sciences, , Kashiwa-shi, Chiba 277-0882 , Japan