1. Department of Mechanical Engineering, Stony Brook University, Stony Brook, NY 11794, USA
2. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
3. State Key Laboratory of Fluid Power Transmission and Control, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China
4. Department of Production Engineering, KTH Royal Institute of Technology, 10044 Stockholm, Sweden
5. Department of Industrial & System Engineering, State University of New York at Buffalo, Buffalo, NY 14260, USA