1. Department of Mechatronic Engineering, Jomo Kenyatta University of Agriculture and Technology (JKUAT), Nairobi 00200, Kenya
2. Department of Mechanical Engineering, Jomo Kenyatta University of Agriculture and Technology (JKUAT), Nairobi 00200, Kenya
3. Institute of Electrical and Micro Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland