[1] Univ Massachusetts, Dept Mech Engn, N Dartmouth, MA 02427 USA
[2] Michigan State Univ, Dept Mech Engn, E Lansing, MI 48824 USA
[3] Univ Politecn Cataluna, Dep Matemat Aplicada 3, ES-08034 Barcelona, Spain
[4] Lawrence Livermore Natl Lab, Livermore, CA 94450 USA
[5] CALTECH, Grad Aeronaut Labs, Pasadena, CA 91125 USA