1. Department of Mechanical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213 e-mail:
2. Professor Endowed Chair of Manufacturing and Materials, Department of Mechanical Engineering, University of Louisville, 214 Shumaker Research Building, Louisville, KY 40292 e-mail:
3. Professor Ver Planck Endowed Chair, Department of Mechanical Engineering; Department of Biomedical Engineering; Department of Materials Science and Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213 e-mail: