1. Mechanical and Manufacturing Department, MGEP Mondragon Goi Eskola Politeknikoa, Loramendi 4 Apartado 23, 20500 Mondragon, Spain; IKERBASQUE, Basque Foundation for Science, 48011 Bilbao, Spain e-mail:
2. Mechanical Engineering Department, Middle East Technical University, 06531 Ankara, Turkey