Copyrights: University of South Florida, 4202 E Fowler Ave, Tampa, FL 33620-5350. All Rights Reserved. Questions, suggestions or comments, contact kaw@eng.usf.edu  This material is based upon work supported by the National Science Foundation under Grant# 0126793, 0341468 and 0717624.  Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.  Other sponsors include Maple, MathCAD, USF, FAMU and MSOE.