1. Mem. ASME Design Engineering Laboratory, School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, OR 97331 e-mail:
2. Mem. ASME Department of Mechanical Engineering, Colorado School of Mines, Golden, CO 80401 e-mail:
3. Mem. ASME Complex Engineered Systems Design Laboratory, School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, OR 97331 e-mail: