1. Mechanical Engineering and Computer Sciences, University of Wisconsin, 1513 University Avenue, Madison, WI 53706 e-mail:
2. Department of Mechanical and Materials Engineering, Florida International University, 10555 W. Flagler Street, Miami, FL 33174 e-mail:
3. Phoenix Analysis and Design Technologies, ASU Research Park, 7755 S. Research Drive, Suite 110, Tempe, AZ 85284 e-mail: