1. Fellow ASME Department of Mechanical Engineering, Aalto University, Aalto FI-00076, Finland e-mail:
2. Department of Mechanical Engineering, Aalto University, Aalto FI-00076, Finland e-mail:
3. Fellow ASME Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802 e-mail:
4. Institute of Product Development and Mechanical Engineering, Hamburg University of Technology, Hamburg 21073, Germany e-mail:
5. School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore e-mail: