1. Department of Mechanical Engineering, Stony Brook University, 163 Light Engineering, Stony Brook, NY 11794 e-mail:
2. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, e-mail:
3. Manufacturing Systems Research Lab, General Motors Research and Development Center, 30500 Mound Road, Warren, MI 48090 e-mail:
4. General Electric Global Research Center, Niskayuna, NY 12309 e-mail: