1. Department of Mechanical Engineering, University of Southampton, Highfield, Southampton SO17 1BJ, UK
2. Dipartimento di Progettazione e Produzione Industriale, Politecnico di Bari, Viale Japigia 182, 70126 Bari, Italy
3. Department of Mechanical Engineering and Applied Mechanics, University of Michigan, Ann Arbor, MI 48109–2125, USA