1. Manufacturing Automation Laboratory (MAL), Department of Mechanical Engineering, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada e-mail:
2. Professor Manufacturing and Automation Research Center, Department of Mechanical Engineering, Koc University, Rumeli Feneri Yolu, Sariyer, Istanbul 34450, Turkey e-mail:
3. Professor Fellow ASME Manufacturing Automation Laboratory (MAL), Department of Mechanical Engineering, University of British Columbia, 2054-6250 Applied Science Lane, Vancouver, BC V6T 1Z4, Canada e-mail: