1. McGill University Department of Mechanical Engineering, , Montréal, QC H3A 0C3 , Canada
2. Chalmers University of Technology Industrial and Materials Science, , Göteborg 41258 , Sweden
3. University of Auckland Department of Mechanical and Mechatronics Engineering, , Auckland 1010 , New Zealand
4. McGill University Department of Mechanical Engineering, , Montréal , QC H3A 0C3, Canada