1. Department of Oceanic Architecture and Engineering, College of Science and Technology, Nihon University, 7-24-1 Narashinodai, Funabashi, Chiba 274-8501, Japan e-mail:
2. Department of Oceanic Architecture and Engineering, College of Science and Technology, Nihon University, 7-24-1 Narashinodai, Funabashi, Chiba 274-8501, Japan
3. IHI Scube Co., Ltd., 3-1-1 Toyosu, Koto-ku, Tokyo 135-0061, Japan
4. Japan Agency for Marine-Earth Science and Technology (JAMSTEC), 2-15 Natsushima-cho, Yokosuka, Kanagawa 237-0061, Japan