1. Department of Mechanical Engineering, Technical University of Denmark, Kongens Lyngby 2800, Denmark e-mail:
2. Industrial Learning Systems, Inc., Pittsburgh, PA 15101 e-mail:
3. Department of Chemical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 e-mail:
4. Associate Professor Department of Mechanical Engineering, Technical University of Denmark, Kongens Lyngby 2800, Denmark e-mail:
5. Professor Department of Chemical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 e-mail: