1. School of Mechanical Engineering, Georgia Institute of Technology, 801 Ferst Drive, Atlanta, GA 30332-0405 e-mail:
2. Engineering Product Development, Singapore University of Technology and Design, 8 Somapah Road, Singapore 487372, Singapore e-mail:
3. Engineering Sciences, Université du Luxembourg, 6, rue Richard Coudenhove-Kalergi, Luxemborg L-1359, Luxembourg e-mail:
4. Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02131 e-mail: