1. Research Associate, Dept. of Systems Design Engineering, Univ. of Waterloo, Waterloo ON, Canada N2L 3G1.
2. Professor, Chair, Dept. of Mechanical and Industrial Engineering, Ryerson Univ., Toronto ON, Canada M5B 2K3.
3. Professor, Dept. of Systems Design Engineering, Univ. of Waterloo, Waterloo ON, Canada N2L 3G1 (corresponding author).