1. Product Design and Optimization Laboratory, Simon Fraser University, Surrey, BC V3T 0A3, Canada e-mail:
2. Professor Faculty of Engineering Science, Laboratory of Mechanical Engineering and Industrial System, Tampere University of Technology, Tampere, FI-33520, Finland e-mail:
3. Professor Product Design and Optimization Laboratory, Simon Fraser University, Surrey, BC V3T 0A3, Canada e-mail: