1. School of Engineering, Penn State University, 5101 Jordan Road, Erie, PA 16563 e-mail:
2. Mem. ASME School of Engineering, Penn State University, 5101 Jordan Road, Erie, PA 16563 e-mail:
3. Fellow ASME Department of Production Engineering, KTH Royal Institute of Technology, Brinellvägen 68, Stockholm S-100 44, Sweden e-mail: