1. Mechanical Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia
2. Center for Robotics and Manufacturing Systems, University of Kentucky, Lexington, KY 40506-0108
3. Mechanical Engineering Department, King Fahd University of Petroleum and Minerals, Dhahran 31261, Saudi Arabia
4. Consulting Services Department, Saudi Arabian Oil Company, Dhahran, Saudi Arabia