[1] Univ Massachusetts, Dept Mech & Ind Engn, Amherst, MA 01003 USA
[2] Univ Malaya, Fac Comp Sci & Informat Technol, Dept Comp Syst & Technol, Kuala Lumpur 50603, Malaysia
[3] Univ Nis, Fac Mech Engn, Dept Mechatron & Control, Nish 18000, Serbia
[4] Univ Kashan, Fac Mech Engn, Kashan, Iran
[5] Univ Kashan, Energy Res Inst, Kashan, Iran