1. Institute for Aerospace Studies, University of Toronto, Toronto, ON M3H 5T6, Canada e-mail:
2. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada e-mail:
3. Department of Civil and Environmental Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada e-mail: