[1] Ecole Polytech, Dept Math & Ind Engn, Montreal, PQ H3C 2A7, Canada
[2] Gerad, Montreal, PQ H3C 2A7, Canada
[3] Norwegian Univ Sci & Technol, Dept Marine Technol, N-7491 Trondheim, Norway
[4] Univ Laval, Fac Sci Adm, Quebec City, PQ G1V 0A6, Canada
[5] CIRRELT, Quebec City, PQ G1V 0A6, Canada