[1] Penn State Univ, Dept Engn Sci & Mech, 227 Hammond Bldg, University Pk, PA 16802 USA
[2] Univ Edinburgh, Sch Math, Edinburgh EH9 3FD, Midlothian, Scotland
[3] Univ Edinburgh, Maxwell Inst Math Sci, Edinburgh EH9 3FD, Midlothian, Scotland
[4] Univ Salerno, Dept Ind Engn, I-84084 Fisciano, Italy
[5] Univ Basilicata, Sch Engn, I-85100 Potenza, Italy
[6] Univ Salerno, Dept Ind Engn, I-84084 Fisciano, Italy