[1] Russian Acad Sci, Inst Problems Mech Engn, St Petersburg 199178, Russia
[2] St Petersburg State Polytech Univ SPbSPU, Dept Theoret Mech, St Petersburg 195251, Russia
[3] Univ Magdeburg, Lehrstuhl Tech Mech, Inst Mech, Fak Maschinenbau, D-39106 Magdeburg, Germany