1. Lifecycle Engineering Laboratory, Department of Mechanical Engineering-Engineering Mechanics, Michigan Technological University, 1400 Townsend Drive, Houghton, MI 49931 e-mail:
2. Department of Mechanical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, China;
3. Michigan Technological University, 1400 Townsend Drive, Houghton, MI 49931 e-mail: