1. Mem. ASME Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada e-mail:
2. Department of Mechanical and Materials Engineering, Queen's University, McLaughlin Hall, Kingston, ON K7L 3N6, Canada e-mail:
3. Department of Mechanical Engineering, University of Saskatchewan, 57 Campus Drive, Saskatoon, SK S7N 5A9, Canada e-mail: