[1] Univ Malaya, Dept Mech Engn, Kuala Lumpur 50603, Malaysia
[2] Ain Shams Univ, Design & Prod Engn Dept, Cairo 11517, Egypt
[3] Univ Malaya, Fac Engn, Adv Mfg & Mat Proc Ctr, Kuala Lumpur, Malaysia
[4] King Fahd Univ Petr & Minerals, Dept Mech Engn, Dhahran 31261, Saudi Arabia
[5] King Fahd Univ Petr & Minerals, Interdisciplinary Res Ctr Intelligent Mfg & Robot, Dhahran 31261, Saudi Arabia
[6] Galala Univ, Dept Mechatron & Ind Automat, Galala City, Egypt