1. Computational Modelling and Simulation Department, University of Pittsburgh, Pittsburgh, PA, USA
2. Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL, USA
3. Mechanical Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL, USA
4. Mechanical Engineering Department, The University of Akron, Akron, OH, USA