1. Department of Mechanical Engineering, McGill University, Montreal, QC, H3A 2K6, Canada e-mail:
2. Air and Missile Defense Department, Applied Physics Laboratory, Johns Hopkins University, Laurel, MD 20723-6099 e-mail:
3. Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1226 e-mail:
4. Department of Mechanical Engineering, University of Illinois, Urbana, IL 61801 e-mail: