1. Engineering Design and Computing Laboratory,Department of Mechanical and Process Engineering,ETH Zürich,Tannenstr. 3, 8092 Zürich, Switzerlande-mail: jm@ethz.ch
2. Engineering Design and Computing Laboratory,Department of Mechanical and Process Engineering,ETH Zürich,Tannenstr. 3, 8092 Zürich, Switzerlande-mail: pegan@ethz.ch
3. Engineering Design and Computing Laboratory,Department of Mechanical and Process Engineering,ETH Zürich,Tannenstr. 3, 8092 Zürich, Switzerlande-mail: kshea@ethz.ch