1. Mem. ASME Department of Mechanical, Aerospace and Civil Engineering, Brunel University London, Uxbridge UB8 3PH, UK
2. Department of Mechanical Engineering, Lyles College of Engineering, California State University, 2320 East San Ramon Avenue, Fresno, CA 93740-8030 e-mails: ;
3. Department of Mechanical, Aerospace and Civil Engineering, Brunel University London, Uxbridge UB8 3PH, UK e-mail:
4. Fellow ASME Department of Mechanical Engineering, The University of British Columbia, Vancouver, BC V6T 1Z4, Canada e-mail:
5. Department of Computing and Mathematical Sciences, California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91125 e-mail: