1. Department of Mechanical Engineering, Stony Brook University, 156A Light Engineering, Stony Brook, NY 11794 e-mail:
2. Manufacturing Systems Research Lab, General Motors Research and Development Center, 30500 Mound Road, Warren, MI 48090 e-mail:
3. Department of Mechanical Engineering, Stony Brook University, 163 Light Engineering, Stony Brook, NY 11794 e-mail:
4. State Key Laboratory of Fluid Power Transmission and Control, Department of Mechanical Engineering, Zhejiang University, Hangzhou 310013, China e-mail: