1. Mechanics and Aerospace Design Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada
2. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur 721302, India
3. Fellow ASME Mechanics and Aerospace Design Laboratory, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada e-mail: