[1] Iowa State Univ, Dept Mech Engn, Ames, IA 50011 USA
[2] Iowa State Univ, Dept Elect & Comp Engn, Ames, IA 50011 USA
[3] Univ Michigan, Dept Ind & Mfg Syst Engn, Dearborn, MI 48128 USA
[4] Univ Maryland Baltimore Cty, Dept Mech Engn, Baltimore, MD 21250 USA