1. Department of Mechanical and Industrial Engineering, The University of Iowa, 218 Engineering Research Facility, Iowa City, IA 52242 e-mail:
2. Mem. ASME Department of Mechanical and Industrial Engineering, The University of Iowa, 2134 SC, Iowa City, IA 52242 e-mail:
3. Mechanical Engineering Department, Korea Advanced Institute of Science and Technology (KAIST), 291 Daehak-ro, Yuseong-gu, Daejeon 305-701, South Korea e-mail:
4. US Army RDECOM/TARDEC, 6501 E. 11 Mile Road, Warren, MI 48397 e-mail: