1. Systems Integration Division, National Institute of Standards and Technology, Gaithersburg, MD 20899;
2. Department of Computer Science, Aarhus University, 8200 Aarhus N, Denmark
3. Systems Integration Division, National Institute of Standards and Technology, Gaithersburg, MD 20899
4. Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, MD 20899;
5. Department of Mechanical Engineering, Catholic University of America, Washington, DC 20064
6. Department of Mechanical System Engineering, Kumoh National Institute of Technology, Gumi, Gyeongbuk 39177, South Korea