IEEE SYSTEMS, MAN, AND CYBERNETICS SOCIETY

The IEEE SYSTEMS, MAN, AND CYBERNETICS Society is an organization within the framework of the IEEE, with professional interest in the closely interrelated elds of manmachine systems, systems science, systems engineering, and cybernetics. All members of the IEEE are eligible for membership in the Society upon payment of the annual Society membership fee of $12.00. Members may receive SMC-A upon payment of an additional $20.00 ($32.00 total), SMC-B upon payment of an additional $22.00 ($34.00 total), and SMC-C for an additional $16.00 ($28.00 total). Members of certain other professional societies are eligible to become Afliates of the Society. For information on joining, write to the IEEE at the address below. Member copies of Transactions/Journals are for personal use only.

President M. R. BERTHOLD

Vice President (Conferences & Meetings) C. L. P. CHEN Secretary H. FYSON / T. MEINL Term ending 2012 C. C. FUNG K. HIPEL J. D. R. MILLAN I. J. RUDAS Y. Y. TANG

Vice President (Cybernetics) D. FILEV Treasurer R. WOON

Board of Governors Vice President Vice President (HumanMachine Systems) (Long Range Planning J. A. ADAMS and Finance) I. ENGELSON Jr. Past President D. S. YEUNG Term ending 2013 T. MACIEJEWSKI W. Y. NG A. NURENBERGER F. ROLI H. WANG Sr. Past President L. O. HALL

Vice President (Membership and Student Activities) L. L. LAI

Vice President (Publications) L. TRAJKOVIC

Vice President (Systems Science and Engineering) E. TUNSTEL

Term ending 2014 J. C. BEZDEK V. KREINOVICH S. KWONG C.-M. LIN X.-Z. WANG

IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS Editor-in-Chief Associate Editor-in-Chiefs

WITOLD PEDRYCZ Dept. of Electrical and Computer Engineering W2-032 Elect & Comp Eng-ECERF University of Alberta Edmonton, T6G 2G7 Canada Fax: (780) 492-1811 D. ABBINK J. ADAMS L. ADELMAN A. BARGIELA J.-P. BARTHES G. BISWAS E. BLASCH G. CALAFIORE C. CAO M. CELENK H. CHEN J. CHEN S.-M. CHEN T.-M. CHOI M. CUMMINGS S. DAS Y. DING M. DORNEICH D. ELLIS L. FANG M. P. FANTI E. M. FERON D. GHOSE F. GOMIDE W. GRUVER P. HANCOCK R. HESS K. HIPEL K. HIROTA ELLEN J. BASS Systems and Information Engineering University of Virginia Charlottesville, VA 22904 USA Fax: (434) 982-2972 RENE VAN PAASSEN Faculty of Aerospace Engineering TU Delft Delft, NL-2600GB The Netherlands Fax: +32 15 2786480

Associate Editors
A. M. HOWARD L. JAIN A. JANIAK M. JENG Q. JI D. KABER M. KAMEL A. KARNIEL A. KONAR J. LAMBERT J. LEE J. K. LEE T. H. LEE C. M. LEWIS Z. LI Y. LIN Y. LIU J. DEL R. MILLN J. MILLER M. MORA S. MORI C. NEMETH N.-T. NGUYEN J. OCKERMAN H. PHAM R. QIU H. R. RAO F. RITTER R. ROBERTS L. ROTHROCK N. SARTER K. T. SEOW R. SUBBU M. K. TIWARI T. TSUJI W. M. P. VAN DER AALST B. VEERAVALLI F.-Y. WANG Y. WANG M. WRIGHT J. WU X. WU Y. XIAO J.-B. YANG N. YE D. ZHANG M. C. ZHOU

IEEE Ofcers
GORDON W. DAY, President PETER W. STAECKER, President-Elect CELIA L. DESMOND, Secretary HAROLD L. FLESCHER, Treasurer MOSHE KAM, Past President VINCENZO MICHAEL R. LIGHTNER, Vice President, Educational Activities DAVID A. HODGES, Vice President, Publication Services and Products HOWARD E. MICHEL, Vice President, Member and Geographic Activities STEVE M. MILLS, President, Standards Association FREDERICK C. MINTZER, Vice President, Technical Activities JAMES M. HOWARD, President, IEEE-USA PIURI, Director, Division X

IEEE Executive Staff

DR. E. JAMES PRENDERGAST, Executive Director & Chief Operating Ofcer ALEXANDER PASIK, Information Technology THOMAS SIEGERT, Business Administration MATTHEW LOEB, Corporate Activities PATRICK MAHONEY, Marketing DOUGLAS GORHAM, Educational Activities CECELIA JANKOWSKI, Member and Geographic Activities EILEEN M. LACH, General Counsel & Corporate Compliance Ofcer ANTHONY DURNIAK, Publications Activities BETSY DAVIS, SPHR, Human Resources JUDITH GORMAN, Standards Activities CHRIS BRANTLEY, IEEE-USA MARY WARD-CALLAN, Technical Activities

IEEE Periodicals Transactions/Journals Department

Staff Director: FRAN ZAPPULLA Editorial Director: DAWN MELLEY Production Director: PETER M. TUOHY Managing Editor: JEFFREY E. CICHOCKI Journals Coordinator: PATRICK J. KEMPF IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICSPART A: SYSTEMS AND HUMANS (ISSN 1083-4427) is published bimonthly by The Institute of Electrical and Electronics Engineers, Inc. Responsibility for the contents rests upon the authors and not upon the IEEE, the Society, Council, or its members. IEEE Corporate Ofce: 3 Park Avenue, 17th Floor, New York, NY 10016-5997. IEEE Operations Center: 445 Hoes Lane, Piscataway, NJ 08854-4141. NJ Telephone: + 1 732 981 0060. Price/Publication Information: Individual copies: IEEE Members $20.00 (rst copy only), nonmembers $89.00 per copy. (Note: Postage and handling charge not included.) Member and nonmember subscription prices available upon request. Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy for private use of patrons, provided the per-copy fee indicated in the code at the bottom of the rst page is paid through the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923. For all other copying, reprint, or republication permission, write to Copyrights and Permissions Department, IEEE Publications Administration, 445 Hoes Lane, Piscataway, NJ 08854-4141. Copyright 2012 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Periodicals Postage Paid at New York, NY, and at additional mailing ofces. Postmaster: Send address changes to IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICSPART A: SYSTEMS AND HUMANS, IEEE, 445 Hoes Lane, Piscataway, NJ 08854-4141. GST Registration No. 125634188. CPC Sales Agreement #40013087. Return undeliverable Canada addresses to: Pitney Bowes IMEX, P.O. Box 4332, Stanton Rd., Toronto, ON M5W 3J4, Canada. IEEE prohibits discrimination, harassment and bullying. For more information visit http://www.ieee.org/nondiscrimination. Printed in U.S.A.

Digital Object Identier 10.1109/TSMCA.2012.2187863