CoCrMo HSFL History of engineering & technology LIPSS LSFL Stribeck curve applications coefficient of friction deterministic asperity model direct laser interference patterning dry friction film thickness friction friction reduction grooves hierarchical surfaces high-power high-rate laser laser beam interference ablation laser microtexturing laser surface texturing laser texturing laser-induced periodic surface structures laser-induced periodic surface structures (LIPSS) lubricant lubricant additives lubricant transport lubricated friction microstructure