1. National Institute of Standards and Technology Systems Integration Division, , 100 Bureau Drive, Gaithersburg, MD 20899
2. STEP Tools Inc. , 14 First Street, Troy, NY 12180
3. National Institute of Standards and Technology Intelligent Systems Division, , 100 Bureau Drive, Gaithersburg, MD 20899
4. Universite de Bourgogne Franche-Comte Laboratoire Informatique de Bourgogne, , 9 Avenue Alain Savary, Dijon 21000 , France ;
5. University of the District of Columbia School of Engineering and Applied Sciences, , 4200 Connecticut Avenue, N.W. Washington, DC 20008