1. Departments of Mechanical & Nuclear and Industrial & Manufacturing Engineering, The Pennsylvania State University, University Park, PA 16802
2. Systems Realization Laboratory, G.W. Woodruff School
of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405
3. Systems Realization Laboratory, G.W. Woodruff School
of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405,