1. Department of Mechanical and Mechatronics Engineering, Univ. of Waterloo, 200 Univ. Avenue West, Waterloo, ON, N2L 3G1, CA (Corresponding author), e-mail: s3bogdan@uwaterloo.ca
2. Department of Mechanical and Mechatronics Engineering, Univ. of Waterloo, 200 Univ. Avenue West, Waterloo, ON, N2L 3G1, CA.