1. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48105 e-mail:
2. Ricardo Prague, Prague 8, Karlin 18600, Czech Republic
3. Cummins, Inc., Columbus, IN 47201
4. Robert Bosch LLC, Farmington Hills, MI 48331
5. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48105