1. Department of Mechanical and Mechatronics Engineering, Univ. of Waterloo, Waterloo, ON N2L 3G1, CA, e-mail: sa2hosse@uwaterloo.ca
2. Department of Mechanical and Mechatronics Engineering, Univ. of Waterloo, Waterloo, ON N2L 3G1, CA, e-mail: dscronin@uwaterloo.ca
3. Department of Mechanical and Mechatronics Engineering, Univ. of Waterloo, Waterloo, ON N2L 3G1, CA, e-mail: plumtree@uwaterloo.ca