[1] Northwestern Univ, Dept Civil & Environm Engn, Evanston, IL 60208 USA
[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA
[3] Univ Western Ontario, Dept Mech & Mat Engn, London, ON N6A 5B9, Canada
[4] Univ Illinois, Dept Engn Sci & Mech, Urbana, IL 61801 USA
[5] Tsinghua Univ, Dept Engn Mech, Beijing 100084, Peoples R China