1. The Harold and Inge Marcus Department of Industrial and Manufacturing Engineering, Penn State University, State College, PA 16801 e-mail:
2. Mem. ASME The Harold and Inge Marcus Department of Industrial and Manufacturing Engineering, Penn State University, State College, PA 16801 e-mail:
3. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 e-mail: