1. Department of Industrial Engineering, University of Wisconsin-Madison, Madison, WI 53706
2. BalaDyne Corporation, 665 Highland Drive, Ann Arbor, MI 48108
3. Electrical & Controls Integration Lab, General Motors, P.O. Box 9055, Warren, MI 48090
4. Dept. of Industrial and Operations Engineering, University of Michigan, Ann Arbor, MI 48109
5. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109