1. Department of Aeronautics and Astronautics, Stanford University Durand Building, 496 Lomita Mall, Stanford, CA 94305-4035, USA,
2. Department of Aeronautics and Astronautics, Stanford University Durand Building, 496 Lomita Mall, Stanford, CA 94305-4035, USA
3. Department of Mechanical Design, State University of Campinas - UNICAMP R. Mendeleiev 200, Campinas-SP 13083-970, Brazil
4. Department of Mechanical Engineering, National University of Singapore 9 Engineering Drive 1, Singapore 117576, Singapore