1. Department of Mechanical & Manufacturing Engineering, University of Calgary, Calgary, AB T2N 1N4, Canada e-mail:
2. Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824 e-mail:
3. Institute for Aerospace Studies, University of Toronto, Toronto, ON M5S 1A4, Canada e-mail:
4. Professor Department of Mechanical & Industrial Engineering, University of Toronto, Toronto, ON M5S 3G8, Canada e-mail: