[1] Stellenbosch Univ, Dept Ind Engn, Stellenbosch, South Africa
[2] Stellenbosch Univ, Dept Mech & Mechatron Engn, Stellenbosch, South Africa
[3] Cape Peninsula Univ Technol, Dept Ind Design, Cape Town, South Africa
[4] Univ Cape Town, Dept Mech Engn, Ctr Mat Engeerineering, Cape Town, South Africa