1. Manufacturing and Automation Research Laboratory, Department of Industrial and Systems Engineering, Rutgers University, Piscataway, NJ 08854;
2. School of Mechanical Engineering, Shandong University, Jinan 250061, P. R. China e-mail:
3. Manufacturing and Automation Research Laboratory, Department of Industrial and Systems Engineering, Rutgers University, Piscataway, NJ 08854 e-mail: