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