1. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada (e-mail: amin.korayem@uwaterloo.ca)
2. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON N2L 3G1, Canada.
3. General Motors, Canadian Technical Centre, Oshawa, ON L1J 6J2, Canada.