[1] Univ Manchester, Sch Mech Aerosp & Civil Engn, Manchester M13 9PL, Lancs, England
[2] Univ Kentucky, Dept Mech Engn, Lexington, KY 40506 USA
[3] Univ Kentucky, Dept Math, Lexington, KY 40506 USA
[4] Natl Tech Univ Athens, Sch Min Engn & Met, Zografos 15780, Greece
[5] Tech Univ Denmark, Dept Mech Engn, DK-2800 Lyngby, Denmark