1. NSF Engineering Research Center for Reconfigurable Manufacturing Systems, Department of Mechanical Engineering,College of Engineering, University of Michigan, Ann Arbor, MI 48109-2125;
2. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an, Shanxi 710049, China
3. NSF Engineering Research Center for Reconfigurable Manufacturing Systems, Department of Mechanical Engineering,College of Engineering, University of Michigan, Ann Arbor, MI 48109-2125
4. Mechanical Engineering Department, Technion Israel Institute of Technology, Haifa 3200, Israel
5. GM R&D Center, 30500 Mound Road, Warren, MI 48090