[1] Norwegian Univ Sci & Technol, Dept Marine Technol, Otto Nielsens Veg 10, N-7052 Trondheim, Norway
[2] TU Braunschweig, Inst Appl Mech, Bienroder Weg 87, D-38106 Braunschweig, Germany
[3] Univ A Coruna, Dept Metodos Matemat, Campus A Coruna, La Coruna 15071, Spain
[4] Univ Pavia, Dipartimento Ingn Civile & Architettura, Via Ferrata 3, I-27100 Pavia, Italy
[5] Tech Univ Munich, Inst Adv Study, Lichtenbergstr 2a, D-85748 Garching, Germany