[1] Kyushu Univ, Dept Mech Engn, Nishi Ku, Fukuoka 8190395, Japan
[2] Natl Univ Singapore, Dept Mech Engn, Singapore 117576, Singapore
[3] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore
[4] Natl Univ Singapore, Dept Civil Engn, Singapore 117576, Singapore