1. Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave. W., Waterloo, ON N2L3G1, Canada e-mail:
2. Microbonds, Inc., Markham, ON L3R3B3, Canada, e-mail:
3. MK Electron Co., 316-2 Geumeo-ri, Pogok-eup, Cheoin-gu Yongin-si, Gyeonggi-do 449-812, South Korea e-mail: