1. IBM Systems and Technology, 2070 Route 52, Hopewell Junction, NY 12533 and G W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
2. G W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332
3. Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ, England, UK