1. Department of Systems Design Engineering, University of Waterloo, Waterloo, Ontario, Canada N2L 3G1,.
2. Department of Management Sciences, University of Waterloo, Waterloo, Ontario, Canada N2L 3G1,.
3. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada M5B 2K3,
4. Department of Mathematics, Wilfrid Laurier University, Waterloo, Ontario, Canada N2L 3C5,