1. Mem. ASME Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, 842 W Taylor Street, ERF 1076, Chicago, IL 60607 e-mail:
2. Mem. ASME Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
3. Mem. ASME Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, 842 W Taylor Street, ERF 3025, Chicago, IL 60607 e-mail: