1. Department of Mechanical and Industrial Engineering; University of Toronto; 5 King's College Road Toronto ON M5S 3G8 Canada
2. Department of Mechanical and Mechatronics Engineering; University of Waterloo; 200 University Ave. West Waterloo ON N2L 3G1 Canada
3. Faculty of Engineering and Applied Science; University of Ontario Institute of Technology; 2000 Simcoe St. N. Oshawa Ontario L1H 7K4 Canada