1. Department of Mechanical Engineering, University of Michigan, 1231 Beal Avenue, Ann Arbor, MI 48109 e-mail:
2. Department of Mechanical Engineering, University of Michigan, 1231 Beal Avenue, Ann Arbor, MI 48109
3. Toyota Motor Engineering and Manufacturing North America, Inc., 1555 Woodridge Avenue, Ann Arbor, MI 48105 e-mail:
4. Toyota Motor Engineering and Manufacturing North America, Inc., 1555 Woodridge Avenue, Ann Arbor, MI 48105