1. Department of Industrial and Manufacturing Systems Engineering, University of Michigan-Dearborn, Dearborn, MI 48128 USA (e-mail: fezhou@umich.edu)
2. Department of Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI 48109 USA.
3. Cognitive Robotics Department, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.