1. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801 e-mail:
2. Department of Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
3. Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
4. Assistant Professor Department of Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
5. Assistant Professor Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801