1. Department of Mechanical Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada
2. Department of Civil and Environmental Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada
3. EWI Works International Inc., Edmonton, AB T6E 3N8, Canada
4. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB T6G 2R3, Canada