1. Mem. ASME Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail:
2. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 e-mail:
3. Professor Fellow ASME William Clay Ford Professor of Manufacturing Mechanical Engineering, Automotive Research Center, University of Michigan, Ann Arbor, MI 48109 e-mail: