1. School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, Oklahoma 74078, USA
2. Department of Mechanical Engineering, University of Nevada, Reno, Nevada 89557, USA
3. Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7465 Trondheim, Norway
4. Department of Mathematics and Cybernetics, SINTEF Digital, 7034 Trondheim, Norway
5. Department of Mathematical Sciences, Norwegian University of Science and Technology, 7491 Trondheim, Norway