1. Queen’s University Belfast School of Mechanical and Aerospace Engineering, , Ashby Building, Belfast BT9 5AH , UK
2. Trinity College Dublin Department of Mechanical, Manufacturing and Biomedical Engineering, , Parsons Building, College Green, Dublin 2 , Ireland
3. ABB Schweiz AG , Bruggerstrasse 71a, P.O. Box, CH-5401 Baden , Switzerland