1. Department of Astronautics and Mechanics, Harbin Institute of Technology, Postbox 344, 92 West Dazhi Street, Harbin 150001, China;
2. Department of Civil and Environmental Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208 e-mail:
3. Fellow ASME Department of Civil and Environmental Engineering, Northwestern University;
4. Department of Mechanical Engineering, Northwestern University, 2145 Sheridan Road, Evanston, IL 60208 e-mail: