[1] MIT, Lab Mfg & Product, 77 Massachusetts Ave, Cambridge, MA 02139 USA
[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 6020 USA
[3] Northwestern Univ, Dept Civil & Environm Engn, Evanston, IL 6020 USA
[4] Penn State Erie Behrend Coll, Fac Mech Engn, Erie, PA 16563 USA
[5] Ford Motor Co, Dearborn, MI 48124 USA
[6] Leibniz Univ Hannover, Inst Prod Engn & Machine Tools IFW, D-30823 Hannover, Germany