[1] Carnegie Mellon Univ, Dept Engn & Publ Policy, Pittsburgh, PA 15213 USA
[2] Carnegie Mellon Univ, Dept Civil & Environm Engn, Pittsburgh, PA 15213 USA
[3] Univ Queensland, Sch Mech & Min Engn, St Lucia, Qld, Australia
[4] Carleton Univ, Dept Mech & Aerosp Engn, Ottawa, ON, Canada
[5] Stanford Univ, Dept Earth Syst Sci, Stanford, CA 94305 USA