1. Department of Industrial and Systems Engineering & Wisconsin Institutes of Discovery, University of Wisconsin–Madison, Madison, Wisconsin 53706;
2. Department of Biosystems, KU Leuven, 3001 Leuven, Belgium;
3. Department of Industrial and Systems Engineering, University of Tennessee, Knoxville, Tennessee 37996-2315;
4. Department of Information Engineering, Computer Science and Mathematics, University of L’Aquila, 67100 L'Aquila, Italy