1. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 e-mail:
2. NASA/Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 e-mail:
3. Department of Mechanical and Materials Engineering, Masdar Institute of Science and Technology, Building 1A, P.O. Box 54224, Abu Dhabi, UAE e-mail: