1. Department of Industrial and Manufacturing Systems Engineering, Kansas State University, 2061 Rathbone Hall, 1701B Platt Street, Manhattan, KS 66506 e-mail:
2. Department of Industrial and Manufacturing Systems Engineering, Kansas State University, 2075 Rathbone Hall, 1701B Platt Street, Manhattan, KS 66506 e-mail:
3. Department of Biological and Agricultural Engineering, Kansas State University, 129 Seaton Hall, 920 N. 17th Street, Manhattan, KS 66506 e-mail: