1. Epstein Department of Industrial and
Systems Engineering, University of Southern California, Los Angeles, CA 90089
2. Department of Industrial and
Systems Engineering, University at Buffalo, Amherst, NY 14260
3. Epstein Department of Industrial and
Systems Engineering, University of Southern California, Los Angeles, CA 90089 e-mail:
4. Department of Mechanical Engineering, Aalto University, Espoo, Aalto FI-00076, Finland