[1] Univ Massachusetts, Dept Mech & Ind Engn, Marston 120B,160 Governors Dr, Amherst, MA 01003 USA
[2] Univ Massachusetts, Dept Mech & Ind Engn, Marston 120C,160 Governors Dr, Amherst, MA 01003 USA
[3] Aalto Univ, Sch Business, Dept Informat & Serv Econ, POB 21220, Aalto 00076, Finland
[4] Aalto Univ, Sch Business, Dept Math & Syst Anal, Syst Anal Lab, POB 11100, Aalto 00076, Finland
[5] Bentley Univ, Nat & Appl Sci, 225 Jennison,175 Forest St, Waltham, MA 02452 USA