1. Faculty of Engineering, University of Sydney, Camperdown Sydney NSW 2008, Australia
2. Viterbi School of Engineering, University of Southern California, Los Angeles 90007, USA
3. School of Mechanical Engineering, Zhejiang Sci-Tech University, Zhejiang 310018, P. R. China
4. Faculty of Engineering, Department of Computing and Software, McMaster University, Ontario L8S 4L8, Canada