1. Mem. ASME Department of Mechanical Engineering, University of Canterbury (UC), Christchurch 8140, New Zealand e-mail:
2. Mem. ASME Dipartimento di Ingegneria, Università degli Studi di Ferrara, Via G. Saragat, Ferrara 1-44122, Italy e-mail:
3. Department of Mathematics and Statistics, University of Canterbury (UC), Christchurch 8140, New Zealand e-mail: