1. Department of Mechanics and Maritime Sciences (M2), Chalmers University of Technology 2 , SE-412 96 Gothenburg, Sweden
2. School of Mechanical Engineering and Automation, Harbin Institute of Technology 3 , 518058 Shenzhen, People's Republic of China
3. Hermann-Föttinger-Institut, Technische Universität Berlin 4 , Müller-Breslau-Straße 8, D-10623 Berlin, Germany