1. Integrated Manufacturing Technologies Institute, National Research Council of Canada, 800 Collip Circle, London, Ontario N6G 4X8, Canada, Queen's University, Kingston, Ontario, Canada
2. Integrated Manufacturing Technologies Institute, National Research Council of Canada, 800 Collip Circle, London, Ontario N6G 4X8, Canada,
3. Integrated Manufacturing Technologies Institute, National Research Council of Canada, 800 Collip Circle, London, Ontario N6G 4X8, Canada
4. Department of Mechanical Engineering, National Chiao-Tung University, 1001 Ta Hseuh Road, Hsin Chu, Taiwan, 30010, ROC