1. Product Design and Optimization Lab (PDOL), School of Mechatronic Systems Engineering, Simon Fraser University, 250-13450 102 Avenue, Surrey, BC V3T0A3, Canada
2. Product Design and Optimization Lab (PDOL), School of Mechatronic Systems Engineering, Simon Fraser University, 250-13450 102 Avenue, Surrey, BC V3T0A3, Canada e-mail: