1. Department of Mechanical and Aerospace Engineering, University of California, Davis, California 95616, USA;
2. Department of Mechanical Engineering, University of Michigan–Dearborn, Dearborn, Michigan 48128, USA;
3. Ford Motor Company, Dearborn, Michigan 48121, USA;
4. Department of Mechanical Engineering, University of Michigan, Ann Arbor, Michigan 48109, USA;,