[1] Carnegie Mellon Univ, Dept Mech Engn, Pittsburgh, PA 15213 USA
[2] Delft Univ Technol, Delft Inst Appl Math, Van Mourik Broekmanweg 6, NL-2628 XE Delft, Netherlands
[3] Oden Inst Computat Engn & Sci, 201 East 24th St,C0200, Austin, TX 78712 USA
[4] Norwegian Univ Sci & Technol, Dept Marine Technol, O Nielsens Veg 10, N-7052 Trondheim, Norway
[5] Ecole Polytech Fed Lausanne, Inst Math, CH-1015 Lausanne, Switzerland