1. Institute for Advanced Computer Studies, Department of Computer Science, University of Maryland, College Park, MD 20742 e-mail:
2. Research Assistant Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 e-mail:
3. Professor Fellow of ASME Institute for Systems Research, Department of Mechanical Engineering, University of Maryland, College Park, MD 20742 e-mail: skgupta@umd.edu
4. Professor Institute for Advanced Computer Studies, Department of Computer Science, University of Maryland, College Park, MD 20742 e-mail: