1. Warwick Manufacturing Group, University of Warwick, Coventry CV4 7AL, UK
2. Department of Mechanical Engineering, University of Michigan, 2350 Hayward Street, Ann Arbor, MI 48109
3. School of Industrial and Systems Engineering, Georgia Institute of Technology, 765 Ferst Drive, NW Atlanta, GA 30332
4. Department of Mechanical Engineering, Hong-Ik University, 72-1 Sang-Su-Dong, Mapo-Ku, Seoul 121-791, Republic of Korea