1. Mechanical Engineering Department, Binghamton University, State University of New York, Binghamton, NY 13902 e-mail:
2. Mechanical and Aerospace Engineering Department, University of Texas at Arlington, Arlington, TX 76019
3. Computer Science Department, Binghamton University, State University of New York, Binghamton, NY 13902
4. Department of Mechanical Engineering, Villanova University, Villanova, PA 19085
5. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
6. Mechanical Engineering Department, Binghamton University, State University of New York, Binghamton, NY 13902