1. Department of Mechanical Engineering, Laval University, Adrien-Pouliot Building, Room No. 1504, Quebec City, QC, G1V 0A6, Canada
2. Department of Mechanical Engineering, Centre for Intelligent Machines, McGill University, Macdonald Engineering Building, Room No. 461, 817 Sherbrooke Street West, Montreal, QC, H3A 2K6, Canada