[1] King Saud Univ, Dept Mech Engn, Coll Engn, Riyadh 11421, Saudi Arabia
[2] Cairo Univ, Dept Mech Design & Prod Engn, Fac Engn, Giza 12613, Egypt
[3] Port Said Univ, Dept Prod Engn & Mech Design, Port Fuad 42526, Egypt
[4] Karlsruhe Inst Technol, Inst Automat & Appl Informat, D-76344 Karlsruhe, Germany