1. Department of Mechanical Engineering, University of Minnesota, Minneapolis 55455, USA
2. Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, P. R. China
3. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P. R. China
4. Department of Mechanical Engineering and St. Anthony Falls Laboratory, University of Minnesota, Minneapolis 55455, USA