1. e-mail:
2. e-mail: Department of Mechanical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794-2300
3. Manufacturing Systems Research Lab, General Motors Research and Development Center, 30500 Mound Road, Warren, MI 48090 e-mail:
4. GE Global Research Center, 1 Research Circle, Niskayuna, NY 12309 e-mail: