[1] Univ Minnesota, St Anthony Falls Lab, Minneapolis, MN 55414 USA
[2] Univ Minnesota, Dept Civil Environm & Geo Engn, Minneapolis, MN 55455 USA
[3] Univ New South Wales, Sch Mech & Mfg Engn, Sydney, NSW 2052, Australia
[4] Univ Melbourne, Dept Mech Engn, Melbourne, Vic 3010, Australia