[1] Tohoku Univ, Dept Aerosp Engn, Aoba Ku, Sendai, Miyagi 9808579, Japan
[2] Chongqing Univ, Dept Engn Mech, Chongqing 400030, Peoples R China
[3] Queensland Univ Technol, Sch Engn Syst, Brisbane, Qld 4001, Australia
[4] Univ Sunderland, Sch Comp & Technol, Sunderland SR6 0DD, England