1. Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK
2. Department of Mechanical Engineering, Columbia University, New York, NY 10027
3. Columbia University
4. School of Engineering, Cardiff University , Cardiff CF10 3AT, UK ; Baghdad 8998+QHJ, Iraq
5. Electrical Engineering Technical College, Middle Technical University, , Cardiff CF10 3AT, UK ; Baghdad 8998+QHJ, Iraq
6. School of Engineering, Cardiff University, Cardiff CF10 3AT, UK