1. Intelligent Systems Division, NASA Ames Research Center, Moffett Field, California 94035
2. Electrical and Computer Engineering, University of Utah, Salt Lake City, Utah 84112
3. Controls Branch, NASA Armstrong Flight Research Center, Edwards, California 93523
4. Craig Technologies, Craig Technologies, Cape Canaveral, Florida 32920
5. University of Minnesota, Minneapolis, Minnesota 55455
6. NASA Ames Research Center, SGT, Moffett Field, California 94035