[1] Univ Cape Town, Dept Civil Engn, Ring Rd, ZA-7700 Cape Town, South Africa
[2] Ex Mente Technol, 447 Mon Rd, ZA-0081 Pretoria, South Africa
[3] Univ East Anglia, Sch Math, Norwich Res Pk, Norwich NR4 7TJ, England
[4] Univ Melbourne, Dept Infrastructure Engn, Block C,Kernot Rd, Melbourne 3010, Australia
[5] Univ Duisberg Essen, Inst Mech, Univ Str 2, D-45141 Essen, Germany