[1] Univ Michigan, Dept Naval Architecture & Marine Engn, Ann Arbor, MI 48109 USA
[2] Univ Michigan, Dept Mech Engn, Ann Arbor, MI 48109 USA
[3] New Jersey Inst Technol, Ctr Appl Math & Stat, Dept Math Sci, Newark, NJ 07102 USA
[4] Korea Adv Inst Sci & Technol, Div Ocean Syst Engn, Taejon 305701, South Korea