1. Research Scientist Center for Automation Technologies and Systems, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180 e-mail:
2. Professor of Mechanical Engineering Center for Automation Technologies and Systems, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180 e-mail:
3. Center for Automation Technologies and Systems, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY 12180 e-mail: