1. Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, Avenida Rovisco Pais, No. 1, Lisboa, 1049-001, Portugal e-mail:
2. Fellow ASME Centre for Marine Technology and Ocean Engineering (CENTEC), Instituto Superior Técnico, Universidade de Lisboa, Avenida Rovisco Pais, No. 1, Lisboa, 1049-001, Portugal;
3. Ocean Engineering Department, COPPE, Federal University of Rio de Janeiro, Rio de Janeiro, 21941-972, Brazil e-mail: