1. Mem. ASME Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue W, Waterloo, ON, N2 L 3G1, Canada e-mail:
2. Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Avenue W, Waterloo, ON, N2 L 3G1, Canada e-mail:
3. GM Global Propulsion Systems General Motors Company, 823 Joslyn Avenue, Pontiac, MI 48340 e-mail: