1. Department of Electrical Engineering, Technical and Vocational University (TVU), Tehran, Iran
2. Department of Electrical Engineering, Technical and Vocational University (TVU), Sanandaj, Iran
3. Department of Electrical Engineering, Malekan Branch, Islamic Azad University, Malekan, Iran
4. Electrical Department, Robotics and Soft Technologies Research Center, Islamic Azad University, Tabriz Branch, Tabriz, Iran