1. Department of Mechanical Engineering, Prairie View A&M University, 700 University Drive, Prairie View, TX 77446 e-mail:
2. Center for Automation and Technology Systems (CATS), Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180
3. Department of Manufacturing Systems Engineering and Management, California State University, 18111 Nordhoff Street, Northridge, CA 91330