1. School of Mechanical and Chemical Engineering, The University of Western Australia, 35 Stirling Highway, Perth, WA 6009, Australia
2. School of Engineering, The University of Tasmania, Hobart TAS 7001, Australia
3. SPG-Steiner GmbH, Wittgensteiner Strasse 14, D-57072 Siegen, Germany
4. School of Earth and Environment, The University of Western Australia, 35 Stirling Highway, Perth, WA 6009, Australia