1. Department of Engineering Science and Mechanics, The Pennsylvania State University, 212 Earth and Engineering Sciences Building, University Park, PA 16802 e-mail:
2. Applied Research Laboratory, The Pennsylvania State University, P.O. Box 30, State College, PA 16804 e-mail:
3. Fellow ASME Department of Engineering Science and Mechanics, The Pennsylvania State University, 212 Earth and Engineering Sciences Building, University Park, PA 16802 e-mail: