1. Centre for Intelligent Machines, McGill University, Montréal, QC H3A 0C3, Canada e-mail:
2. Professor Department of Mechanical Engineering, McGill University, Montréal, QC H3A 0C3, Canada e-mail:
3. Advanced Technology Development, NOV Wellbore Technologies, Calgary, AB T2P 3G3, Canada e-mail:
4. Advanced Technology Development, NOV Wellbore Technologies, Edmonton, AB T6E 5N3, Canada e-mail: