1. Mem. ASME MENRVA Research Group, Schools of Mechatronic Systems Engineering and Engineering Science, Simon Fraser University, Metro Vancouver, Burnaby, BC V5A-1S6, Canada e-mail:
2. MENRVA Research Group, Schools of Mechatronic Systems Engineering and Engineering Science, Simon Fraser University, Metro Vancouver, Burnaby, BC V5A-1S6, Canada e-mail: