1. Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208
2. School of Automotive Engineering, Dalian University of Technology, No. 2 Linggong Road, Dalian City 116024, China
3. Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208 e-mail: