[1] Univ Calif Davis, Dept Mech Engn, Davis, CA 95616 USA
[2] Univ Manchester, Inst Sci & Technol, Dept Mech Engn, Manchester M60 1QD, Lancs, England
[3] Calif State Univ Sacramento, Dept Mech Engn, Sacramento, CA 95819 USA
[4] Natl Univ Singapore, Dept Mech & Prod Engn, Singapore 0511, Singapore