1. Mechatronics Research Laboratory, Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802 e-mail:
2. Professor Mechatronics Research Laboratory, Department of Mechanical and Nuclear Engineering, The Pennsylvania State University, University Park, PA 16802 e-mail:
3. Professor Materials Research Institute, Department of Materials Science and Engineering, The Pennsylvania State University, University Park, PA 16802 e-mail: