1. Department of Mechanical Engineering, Technical University of Denmark, Nils Koppels Allé, Building 403, 2800 Kongens Lyngby, Denmark
2. Computational Science and Engineering Laboratory, ETH Zürich, Clausiusstrasse 33, CH-8092 Zürich, Switzerland
3. Department of Mechanical Engineering, University of Canterbury, Christchurch 8140, New Zealand