1. Advanced Vehicle Dynamics Laboratory and Computational Science Laboratory, Department of Mechanical Engineering and Department of Computer Science, Virginia Tech, Blacksburg, VA 24061 e-mail:
2. Advanced Vehicle Dynamics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061 e-mail:
3. Computational Science Laboratory, Department of Computer Science, Virginia Tech, Blacksburg, VA 24061 e-mail: