1. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138 e-mail:
2. Professor Fellow ASME John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138 email:
3. Professor Fellow ASME John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138;
4. Department of Earth and Planetary Sciences, Harvard University, Cambridge, MA 02138 e-mail: