1. Institute of Automation and Information Systems, TUM Department of Mechanical Engineering, Technical University of Munich, 85748 Garching b. München, Germany e-mail:
2. Professor Institute of Automation and Information Systems, TUM Department of Mechanical Engineering, Technical University of Munich, 85748 Garching b. München, Germany e-mail:
3. Professor Fellow ASME BMW Chair in Systems Engineering, Department of Automotive Engineering, Clemson University, Greenville, SC 29607 e-mail: