1. Department of Mechanical Engineering and Engineering Science The University of North Carolina at Charlotte Charlotte NC 28223 USA
2. Vehicle Energy & Safety Laboratory (VESL) North Carolina Motorsports and Automotive Research Center The University of North Carolina at Charlotte Charlotte NC 28223 USA
3. Department of Civil and Environmental Engineering Carnegie Mellon University Pittsburgh PA 15289 USA
4. Department of Computer Science The University of North Carolina at Charlotte Charlotte NC 28223 USA