1. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 e-mail:
2. Department of Mechanical Engineering, Indian Institute of Technology Bombay IIT Bombay, Powai, Mumbai 400076, India e-mail:
3. Professor Mem. ASME Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 e-mail: