1. Mem. ASME, Department of Industrial and Manufacturing Engineering, Wichita State University, Wichita, KS 67226 e-mail:
2. Department of Mechanical Engineering, University of Maryland at College Park, College Park, MD 20742 e-mail:
3. Mem. ASME, School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, South Korea e-mail: