[1] Univ Sao Paulo, Escola Politecn, Offshore Mech Lab, Av Prof Lucio Martins Rodrigues, BR-05508020 Butanta, SP, Brazil
[2] Univ Sao Paulo, Escola Politecn, Dept Naval Architecture & Ocean Engn, Av Prof Lucio Martins Rodrigues, BR-05508020 Butanta, SP, Brazil
[3] Technomar Engn, Av Pedroso Morais 631, BR-05419905 Sao Paulo, SP, Brazil
[4] Univ Tokyo, OSPL Ocean Space Planning Lab, Dept Syst Innovat, Sch Engn, 7-3-1 Hongo,Bunkyo Ku, Tokyo 1138656, Japan