1. Department of Mechanical Engineering, Delft University of Technology, Delft 2628 CD, Netherlands.
2. Department of Engineering Technology, University of Twente, Enschede 7500 AE, Netherlands.
3. Department of Engineering and Technology, University of Wisconsin–Stout, Menomonie, WI 54751, USA.
4. Department of Mechanical Engineering, Cornell University, Ithaca, NY 14853, USA.