1. Department of Mechanical Engineering, University of Michigan, 1231 Beal Avenue, 2026 Auto Lab, Ann Arbor, MI 48109 e-mail:
2. Modeling and Simulation, GM R&D, 30565 William Durant Boulevard, Warren, MI 48092 e-mail:
3. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail:
4. Professor Department of Mechanical Engineering, University of Michigan, 1231 Beal Avenue, 2007 Auto Lab, Ann Arbor, MI 48109 e-mail: