1. Daniel J. Epstein Department of Industrial and Systems Engineering, University of Southern California, Los Angeles, CA 90089 e-mail:
2. Assistant Professor Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607 e-mail:
3. Professor Daniel J. Epstein Department of Industrial and Systems Engineering, Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90089 e-mail: