[1] Univ Malaysia Pahang, Pekan 26600, Pahang, Malaysia
[2] Univ Kebangsaan Malaysia, Fac Engn & Built Environm, Dept Mech & Mat Engn, Bangi 43600, Malaysia
[3] Tokyo Univ Sci, Noda, Chiba 278, Japan
[4] Univ Kebangsaan Malaysia, Fac Engn & Built Environm, Ctr Automat Res, Bangi 43600, Malaysia