1. The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 387 Technology Circle, Suite 200, Atlanta, GA 30313 e-mail:
2. Mem. ASME St. Jude Medical, Inc., 387 Technology Circle, Suite 500, Atlanta, GA 30313 e-mail:
3. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, 387 Technology Circle, Suite 200, Atlanta, GA 30313 e-mail:
4. Mem. ASME Coulter Department of Biomedical Engineering, Georgia Institute of Technology, 387 Technology Circle, Suite 200, Atlanta, GA 30313 e-mail: