[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA
[2] Shanghai Jiao Tong Univ, Sch Naval Architecture Ocean & Civil Engn, Dept Engn Mech, Shanghai 200240, Peoples R China
[3] Queens Univ, Dept Mech & Mat Engn, Kingston, ON K7M 3N9, Canada
[4] Westlake Univ, Sch Engn, Hangzhou 310024, Zhejiang, Peoples R China
[5] MIT, Sea Grant Coll Program, Cambridge, MA 02139 USA