1. Department of Mechanical Engineering, School of Engineering and Technology, University of Doha for Science and Technology, Doha P.O. Box 24449, Qatar
2. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran P.O. Box 14155-6619, Iran
3. Department of Electrical Engineering, School of Engineering and Technology, University of Doha for Science and Technology, Doha P.O. Box 24449, Qatar
4. Institute of Precision Machining (KSF), Furtwangen University, 78532 Tuttlingen, Germany