1. Mechanical Engineering Department, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada e-mail:
2. Department of Mechanical and Industrial Engineering, College of Engineering, Qatar University, P.O. Box 2713, Doha, Qatar e-mail:
3. Mechanical Engineering Department, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada; Department of Mechanical Engineering, Abu Dhabi University, Abu Dhabi, UAE e-mail: