1. Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
2. Ann and H.J. Smead Department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO 80309
3. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
4. School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138
5. Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139; Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139