1. NASA/Ames Research Center, Computational Science Division, MS 269-3, Moffett Field, CA 94035; Institute for Human and Machine Cognition, UWF, Pensacola, FL
2. NASA/Ames Research Center (Sierhuis & Dowding: RIACS; van Hoof: QSS)
3. Stanford University, Department of Mechanical Engineering, Stanford, CA