1. Mem. ASME Assistant Professor Department of Mechanical Engineering, Loyola Marymount University, Los Angeles, CA 90045 e-mail:
2. Professor Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2 L 3G1, Canada
3. Professor Mem. ASME Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2 L 3G1, Canada