1. Department of Industrial and Operations Engineering, The University of Michigan, Ann Arbor, MI 48109 e-mail:
2. Manufacturing Engineering Program of Integrative Systems and Design Division, College of Engineering, The University of Michigan, Ann Arbor, MI 48109 e-mail:
3. Fellow ASME Department of Industrial and Operations Engineering, The University of Michigan, Ann Arbor, MI 48109 e-mail: