1. School of Engineering, University of St. Thomas, 2115 Summit Avenue, St. Paul, MN 55105-1079 e-mail:
2. Department of Mechanical Engineering, University of Minnesota, 111 Church Street SE, Minneapolis, MN 55455
3. Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, 2039 ERF 842 West Taylor Street, Chicago, IL 60607