1. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, 1206 W. Green Street, Urbana, IL 61801 e-mail:
2. ASME Fellow Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, 1206 W. Green Street, Urbana, IL 61801 e-mail:
3. Department of Mechanical Engineering, Colorado School of Mines, Brown Hall W370-B, 1610 Illinois Street, Golden, CO 80401 e-mail: